Disturbance-observer-based LQR control of singularly perturbed systems via recursive decoupling methods

Jing Xu and Yugang Niu

International Journal of Systems Science, 2019, vol. 50, issue 4, 764-776

Abstract: This paper addresses the disturbance-observer-based linear quadratic regulation (LQR) problem of singularly perturbed systems subject to harmonic disturbances. To reduce the computational burden and facilitate the on-board implementation, a recursive matrix decoupling method is proposed to decompose the stiff singularly perturbed model into the block-diagonal form. Then, a robust LQR controller is designed based on the equivalent decoupled system, which consists of a state feedback controller for performance optimisation and a robust controller for disturbance compensation. Moreover, the designed controller is integrated with a finite frequency disturbance observer to attenuate the effect of harmonic disturbances. Finally, a simulation example on a DC motor system is provided to verify the effectiveness of the proposed design method.

Date: 2019
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DOI: 10.1080/00207721.2019.1568608

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