Disturbance Utilizing Control Using LQR Theory with a State/Control Cross-Product Term in the Performance Index.

摘要

The contemporary version of the LQR-Type Disturbance Utilizing Control theory is extended to include a new system-input/system-state weighting factor in the integrand of the LQR-Type optimal-control performance index. The optimal control results for the contemporary Linear Quadratic Regulator problem and the Linear Quadratic Regulator with a "system-state/control-input" Cross Product (bi-linear) term in the integrand of the performance index for plants with no disturbance-inputs, as studied by many authors, are used here to support the derivations that determine the unique optimal control solution as well as the conditions for the existence of a steady-stare, unique optimal control law for plants with persistent, structured-variation type disturbance inputs. Several illustrative examples are presented to illustrate the theoretical results developed in this Thesis.