LQ controller for second order processes.
Transfer function of the controlled system:
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Vector of identification initial parameter estimations:
Controller specific parameters:
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Parameter |
Description |
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Reference signal type |
It’s possible to choose one of the following signal types: · steps · ramps · sin waves |
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Frequency |
Frequency f of reference signal - valid only when reference signal is 'sin waves' |
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Penalization of controller output – fi |
Penalization φ of controller output in LQ criterion:
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Control law:
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where controller parameters r0, r1, q0, q1, p0 and p1 are calculated by solving following diophantine equation:
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where polynomials are as follows:
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is any appropriate polynomial |
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where:
, , , ,
, ,
F(z-1) depends on reference signal type:
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Reference signal type |
F(z-1) |
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steps |
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ramps |
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sin waves |
where |
Source code:
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sid |
on-line identification s-function |
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pp2lq |
function for computation of controller parameters |
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scast |
controller s-function |
See also: