MODEL SWITCHING IN MULTIPLE-MODEL LQ CONTROLLER

摘要

Multiple model representation is used here to represent given system. The LQ controller is designed respecting the whole set of models. Such controller is conservative. Better control behaviour can be obtained when the probability of particular model is provided. Probabilities of models in the set are estimated on-line. The approach is demonstrated on the control of a nonlinear plant. As such example, the elevation dynamics of a helicopter model was used.