TY - GEN

T1 - Receding horizon finite memory output tracking control and its application to inverted pendulum control

AU - Ahn, Choon Ki

AU - Han, Soohee

AU - Kwon, Wook Hyun

PY - 2006

Y1 - 2006

N2 - In this paper, a new type of output feedback tracking control, called a receding horizon finite memory output tracking control (RHFMOTC), is proposed for discrete-time state-space systems. Constraints such as linearity and finite memory structure with respect to inputs/outputs and future output references, and unbiasedness from the optimal state feedback tracking control are required in advance. The RHFMOTC is chosen to minimize a receding horizon LQG tracking performance criterion with these constraints. The stability and the separation principle of the RHFMOTC are investigated. It is shown through application to inverted pendulum control that the RHFMOTC has the better tracking performance than the linear quadratic Gaussian tracking control (LQGTC).

AB - In this paper, a new type of output feedback tracking control, called a receding horizon finite memory output tracking control (RHFMOTC), is proposed for discrete-time state-space systems. Constraints such as linearity and finite memory structure with respect to inputs/outputs and future output references, and unbiasedness from the optimal state feedback tracking control are required in advance. The RHFMOTC is chosen to minimize a receding horizon LQG tracking performance criterion with these constraints. The stability and the separation principle of the RHFMOTC are investigated. It is shown through application to inverted pendulum control that the RHFMOTC has the better tracking performance than the linear quadratic Gaussian tracking control (LQGTC).

KW - Finite impulse response (FIR) filter

KW - Finite memory structure

KW - Output feedback tracking control

KW - Receding horizon tracking control (RHTC)

UR - http://www.scopus.com/inward/record.url?scp=79961137146&partnerID=8YFLogxK

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M3 - Conference contribution

AN - SCOPUS:79961137146

SN - 9783902661173

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

SP - 403

EP - 408

BT - 4th IFAC Symposium on Mechatronic Systems, MX 2006

T2 - 4th IFAC Symposium on Mechatronic Systems, MX 2006

Y2 - 12 September 2006 through 14 September 2006

ER -