2020 Volume 9 Issue 2 Pages 109-116
Optimal linear feedback controller synthesis methodologies have the potential to become a worthy alternative to standard design methodologies, particularly for high-end complex systems. Although these design methodologies have been around for more than two decades, the majority of industrial control engineers are still reluctant to adopt this new design paradigm. Motivated by these observations, the MECO Research Team at KU Leuven is developing a Linear Control Toolbox (LCToolbox). LCToolbox is an open-source ᴍᴀᴛʟᴀʙ toolbox providing a high level of abstraction to apply linear optimal controller design methods. Its key features are the signal-based modeling framework that allows the user to construct the control configuration, the identification module that interfaces several routines in a uniform manner, and the control module that allows the user to specify an optimal feedback controller design problem in an intuitive way and solve it as such. Moreover, LCToolbox supports state-of-the-art B-spline-based linear parameter-varying (LPV) modeling and controller design techniques, unlocking the true potential of advanced feedback controller synthesis methodologies. The design of an LPV controller for an overhead crane is used as a running example throughout the paper to illustrate all features of LCToolbox.
