TY - JOUR
T1 - Simultaneous design of controllers and instrumentation
T2 - ILQR/ILQG
AU - Ching, Shinung
AU - Kabamba, Pierre T.
AU - Meerkov, Semyon M.
PY - 2010/1
Y1 - 2010/1
N2 - The instrumentation, i.e., sensors and actuators, in feedback control systems often contain nonlinearities, such as saturation, deadzone, quantization, etc. Standard synthesis techniques, however, assume that the actuators and sensors are linear. This technical note is intended to modify the LQR/LQG methodology into the so-called Instrumented LQR/LQG (referred to as ILQR/ILQG), which allows for simultaneous synthesis of optimal controllers and instrumentation.
AB - The instrumentation, i.e., sensors and actuators, in feedback control systems often contain nonlinearities, such as saturation, deadzone, quantization, etc. Standard synthesis techniques, however, assume that the actuators and sensors are linear. This technical note is intended to modify the LQR/LQG methodology into the so-called Instrumented LQR/LQG (referred to as ILQR/ILQG), which allows for simultaneous synthesis of optimal controllers and instrumentation.
KW - Linear plant/nonlinear instrumentation (LPNI)
UR - http://www.scopus.com/inward/record.url?scp=75449095839&partnerID=8YFLogxK
U2 - 10.1109/TAC.2009.2033879
DO - 10.1109/TAC.2009.2033879
M3 - Article
AN - SCOPUS:75449095839
SN - 0018-9286
VL - 55
SP - 217
EP - 221
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 1
M1 - 5340608
ER -