Observer-Based Quadratic Guaranteed Cost Control for Linear Uncertain Systems with Control Gain Variation

Satoshi Hayakawa; Yoshikatsu Hoshi; Hidetoshi Oya

doi:10.46604/aiti.2022.9252

Authors

Satoshi Hayakawa Graduate School of Integrative Science and Engineering, Tokyo City University, Tokyo, Japan
Yoshikatsu Hoshi Graduate School of Integrative Science and Engineering, Tokyo City University, Tokyo, Japan
Hidetoshi Oya Graduate School of Integrative Science and Engineering, Tokyo City University, Tokyo, Japan

DOI:

https://doi.org/10.46604/aiti.2022.9252

Keywords:

polytopic uncertainty, quadratic guaranteed cost control, observer-based controller, control gain variation, linear matrix inequality (LMI)

Abstract

This study proposes a method for designing observer-based quadratic guaranteed cost controllers for linear uncertain systems with control gain variations. In the proposed approach, an observer is designed, and then a feedback controller that ensures the upper bound on the given quadratic cost function is derived. This study shows that sufficient conditions for the existence of the observer-based quadratic guaranteed cost controller are given in terms of linear matrix inequalities. A sub-optimal quadratic guaranteed cost control strategy is also discussed. Finally, the effectiveness of the proposed controller is illustrated by a numerical example. The result shows that the proposed controller is more effective than conventional methods even if system uncertainties and control gain variations exist.

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