Optimal motion control and vibration suppression of flexible systems with inaccessible outputs
Khalil, Islam S. M. and Çelebi, Beşir and Çevik, Gülnihal and Golubovic, Edin and Mehmet, B. and Şabanoviç, Asif (2011) Optimal motion control and vibration suppression of flexible systems with inaccessible outputs. In: IEEE International Conference of Mechatronics (ICM 2011), Istanbul, Turkey
This work addresses the optimal control problem of dynamical systems with inaccessible outputs. A case in which dynamical system outputs cannot be measured or inaccessible. This contradicts with the nature of the optimal controllers which can be considered without any loss of generality as state feedback control laws for systems with linear dynamics. Therefore, this work attempts to estimate dynamical system states through a novel state observer that does not require injecting the dynamical system outputs onto the observer structure during its design. A linear quadratic optimal control law is then realized based on the estimated states which allows controlling motion along with active vibration suppression of this class of dynamical systems with inaccessible outputs. Validity of the proposed control framework is evaluated experimentally.
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