LMIs in Control/pages/Full-State Feedback Optimal Control H2 LMI
Full State Feedback Optimal Control[edit | edit source]
Full State Feedback in general has the goal of positioning a system's closed loop poles in a desired location. This allows us to specify the performance of the system such as requiring stability or bounding the overshoot of the output. By minimizing the norm of this system we are minimizing the effect noise has on the system as part of the performance specifications, particularly when there is information about the distribution of the noise.
The System[edit | edit source]
The system is represented using the 9-matrix notation shown below.
where is the state, is the regulated output, is the sensed output, is the exogenous input, and is the actuator input, at any .
The Data[edit | edit source]
, , , , , , , , are known.
The LMI: Optimal Output Feedback Control LMI[edit | edit source]
The following are equivalent.
1) There exists a such that
2) There exists , and such that
Conclusion:[edit | edit source]
This LMI solves the optimal full state feedback problem and finds the upper bound of the norm of the system, . In addition to this the controller is also found in the process.
Implementation[edit | edit source]
This implementation requires Yalmip and Sedumi. https://github.com/eoskowro/LMI/blob/master/FSF_H2.m
Related LMIs[edit | edit source]
External Links[edit | edit source]
- LMI Methods in Optimal and Robust Control - A course on LMIs in Control by Matthew Peet.
- LMI Properties and Applications in Systems, Stability, and Control Theory - A List of LMIs by Ryan Caverly and James Forbes.
- LMIs in Systems and Control Theory - A downloadable book on LMIs by Stephen Boyd.
- LMIs in Control Systems: Analysis, Design and Applications - by Guang-Ren Duan and Hai-Hua Yu, CRC Press, Taylor & amp; Francis Group, 2013.
- A Course in Robust Control Theory: a Convex Approach, - by Geir E. Dullerud and Fernando G. Paganini, Springer, 2011, Chapter 6.