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

Choon Ki Ahn, Soohee Han, Wook Hyun Kwon

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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).

Original languageEnglish
Title of host publication4th IFAC Symposium on Mechatronic Systems, MX 2006
Pages403-408
Number of pages6
EditionPART 1
Publication statusPublished - 2006
Externally publishedYes
Event4th IFAC Symposium on Mechatronic Systems, MX 2006 - Heidelberg, Germany
Duration: 2006 Sep 12 → 2006 Sep 14

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume4
ISSN (Print)1474-6670

Other

Other4th IFAC Symposium on Mechatronic Systems, MX 2006
CountryGermany
CityHeidelberg
Period06/9/12 → 06/9/14

Keywords

  • Finite impulse response (FIR) filter
  • Finite memory structure
  • Output feedback tracking control
  • Receding horizon tracking control (RHTC)

ASJC Scopus subject areas

  • Control and Systems Engineering

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