A generalised optimal linear quadratic tracker with universal applications. Part 2: discrete-time systems |
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| Authors: | Faezeh Ebrahimzadeh Min-Ching Chung Ying Ting Liao Leang-San Shieh |
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| Affiliation: | 1. Department of Electrical Engineering, National Cheng-Kung University, Tainan, Taiwan, R.O.C.;2. Department of Electrical and Computer Engineering, University of Houston, Houston, TX, U.S.A. |
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| Abstract: | Contrastive to Part 1, Part 2 presents a generalised optimal linear quadratic digital tracker (LQDT) with universal applications for the discrete-time (DT) systems. This includes (1) a generalised optimal LQDT design for the system with the pre-specified trajectories of the output and the control input and additionally with both the input-to-output direct-feedthrough term and known/estimated system disturbances or extra input/output signals; (2) a new optimal filter-shaped proportional plus integral state-feedback LQDT design for non-square non-minimum phase DT systems to achieve a minimum-phase-like tracking performance; (3) a new approach for computing the control zeros of the given non-square DT systems; and (4) a one-learning-epoch input-constrained iterative learning LQDT design for the repetitive DT systems. |
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| Keywords: | Optimal linear quadratic servomechanism frequency shaping optimal iterative learning control model predictive control PID control control zeros |
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