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Robust Controllers Using Generalizations of the LQG/LTR Method

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Abstract

This paper deals with the design of robust fixed parameter controllers, using the target feedback loop/loop transfer recovery (TFL/LTR) technique with two controller structures that will be evaluated with sets of specifications for robust stability and performance of a laboratory helicopter. This helicopter is an underactuated nonlinear system, having three degrees of freedom and two actuators. The first structure considered in the evaluation is the LQG/LTR compensator; it is used as reference for performance evaluation. The second structure results from a variation of the LQG/LTR method. It does not have a specific name and in this paper is called structure #2. For both techniques, designed compensators shall solve the problem of tracking of reference trajectories, ensuring performance and stability, despite parametric disturbances.

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Acknowledgments

The authors acknowledge support provided by CAPES and FAPESP (Grant 2011/17610-0).

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Authors and Affiliations

  1. Divisão de Engenharia Eletrônica, Instituto Tecnológico de Aeronáutica, Praça Marechal Eduardo Gomes, 50-DCTA, São José dos Campos, SP , 12228-900, Brazil

    Renan Lima Pereira & Karl Heinz Kienitz

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  1. Renan Lima Pereira
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  2. Karl Heinz Kienitz
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Correspondence to Renan Lima Pereira.

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Pereira, R.L., Kienitz, K.H. Robust Controllers Using Generalizations of the LQG/LTR Method. J Control Autom Electr Syst 25, 273–282 (2014). https://doi.org/10.1007/s40313-014-0120-z

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  • DOI: https://doi.org/10.1007/s40313-014-0120-z

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