Projeto de controlador robusto LQR VIA desigualdades matriciais lineares
Keywords: Linear Quadratic Regulador, Linear Matrix Inequalities, Decay Rate, Helicopter 3-DOF
AbstractIn this paper, a new approach with decay rate to the resolution of the linear quadratic regulator problem (LQR), based on linear matrix inequalities (LMIs) for continuous time-invariant systems is proposed. Such approach considers conditions for each polytope vertex (Qi;Ri), further to allow prioritize the performance of each vertex of the set of uncertainties. A set of weighting matrices for each vertex makes it possible to improve the dinamical behavior of the uncertain system and/or the control signal. The validation of the proposed conditions is illustrated through a numerical example and a simulation of the 3-DOF helicopter from Quanser®.