Síntese de controladores robustos LQR-derivativo por aproximações LMIs: sintonia via algoritmo genético

Abstract

In this paper, the resolution of the problem of the linear quadratic regulator (LQR) by approximation via linear matrix inequalities (LMIs) for linear systems and uncertain linear systems, or subject to structural failures, is proposed. Still, in the controllers design it is considered the state-derivative feedback. The factor for the choice of the state-derivative feedback is your easy implementation in certain mechanical systems, such as in vibrations control, for example. The weighting matrices the vector of state-derivative and the signal vector of control are obtained by a genetic algorithm (GA). The use of a search and optimization technique, the GA, is given by the fact of the need to properly consider the LQR problem of determining the weighting matrices to achieve certain design requirements, such as setting time, for example. Finally, simulations to illustrate the efficiency of the proposed theorems are performed.