Data-based singular LQ designs using ultra-precision arithmetic

• Main Authors: Ming-ChunKuo, 郭名鈞
• Other Authors: Jeng-Tzong Chan
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/45196186814717983132

碩士 === 國立成功大學 === 航空太空工程學系 === 102 === The linear quadratic (LQ) optimization is a known approach for control system synthesis. In addition, a LQ control design can also be conducted based sorely on the open-loop plant test data, when a plant dynamic model is not explicitly known. On the other hand, the presence of a nonzero penalty on the control input causes an error to appear in the closed-loop output. In order to achieve a perfect command following operation, a LQ control design must be performed without penalizing the control input. However, the removal of the penalty on the control input also brings the information matrix of the data-based LQ (DBLQ) control design close to singular. In this work, the numerical difficulty of such a DBLQ computation is resolved by developing an ultra-precision (UP) arithmetic package and by conducting DBLQ computations using the UP package.