Sequential Design of Discrete Linear Quadratic Regulators via Optimal Root-Locus Techniques.

摘要

A sequential method that uses the classical root locus techniques has been developed to determine the quadratic weighting matrices and the discrete linear quadratic regulators of multivariable control systems. In this proposed approach, at each recursive step, an intermediate unity rank state-weighting matrix containing some invariant eigenvectors of that openloop system matrix is assigned. Also, at each step, an intermediate characteristic equation of the closed loop system containing the invariant eigenvalues is created. In order to control the movement of the root-loci and choose desirable closed loop poles, some virtual finite open-loop zeros are assigned to this characteristic equation. The designed optimal closed loop system thus would retain some stable open loop poles and have the remaining poles optimally placed at desired locations in the complex z plane. Reprints. (jhd)