A design of servo controller with SDRE for nonlinear systems

抄録

In this paper, we propose a new servo controller design method for the nonlinear systems, which can be considered as an extended version of Smith-Davison type servo controller. The control input of the controller is given by computing the Riccati equation depended on the state, which is called SDRE, repeatedly at each sampling time. The nonlinear optimal control law by solving SDRE was proposed by Cloutier et al. (1996) to stabilize nonlinear systems. To verify the effectiveness of the approach, we show a numerical example where the swing-up and stabilizing control for the rotational type pendulum is designed.