pp2lq

LQ controller for second order processes.

Transfer function of the controlled system:

Vector of identification initial parameter estimations:

Controller specific parameters:

Parameter

Description

Reference signal type

It’s possible to choose one of the following signal types:

·         steps

·         ramps

·         sin waves

Frequency

Frequency f of reference signal - valid only when reference signal is 'sin waves'

Penalization of controller output – fi

Penalization φ of controller output in LQ criterion:

Control law:

where controller parameters r0, r1, q0, q1, p0 and p1 are calculated by solving following diophantine equation:

where polynomials are as follows:

 is any appropriate polynomial

 

where:

, , ,

, ,

 

F(z-1) depends on reference signal type:

Reference signal type

F(z-1)

steps

ramps

sin waves

 where

Source code:

sid

on-line identification s-function

pp2lq

function for computation of controller parameters

scast

controller s-function

See also:

On-line identification methods

List of common controllers parameters