State Estimation with Reduced-Order Observer and Adaptive-LQR Control of Time Varying Linear System

• Published in: Elektronika ir elektrotechnika Vol. 26; no. 2; pp. 24 - 31
• Main Authors: Aydogdu, Omer, Levent, Mehmet Latif
• Format: Journal Article
• Language: English
• Published: Kaunas University of Technology, Faculty of Telecommunications and Electronics 01.04.2020; Kaunas University of Technology
• Subjects: adaptation mechanism; lyapunov method; reduced-order observer; Time; time varying linear system
• ISSN: 1392-1215; 2029-5731
• DOI: 10.5755/j01.eie.26.2.25873

In this study, a new controller design was created to increase the control performance of a variable loaded time varying linear system. For this purpose, a state estimation with reduced order observer and adaptive-LQR (Linear–Quadratic Regulator) control structure was offered. Initially, to estimate the states of the system, a reduced-order observer was designed and used with LQR control method that is one of the optimal control techniques in the servo system with initial load. Subsequently, a Lyapunov-based adaptation mechanism was added to the LQR control to provide optimal control for varying loads as a new approach in design. Thus, it was aimed to eliminate the variable load effects and to increase the stability of the system. In order to demonstrate the effectiveness of the proposed method, a variable loaded rotary servo system was modelled as a time-varying linear system and used in simulations in Matlab-Simulink environment. Based on the simulation results and performance measurements, it was observed that the proposed method increases the system performance and stability by minimizing variable load effect.