Process Control

Probabilistically Tuned LQ Control for Mechatronic Systems

K. Belda
Czech Academy of Sciences

Abstract

Mechatronic systems comprise elemental part of production machines and industrial robots. The key task is a design of their suitable control, which should ensure safe control actions in spite of sudden changes of working conditions. The paper presents specific probabilistic interpretation of well-known Linear Quadratic control. This interpretation employs complex information on system behavior and gives physical meaning for fine-tuning of control parameters. The principles of fully probabilistic design with emphasis on on-line tuning are demonstrated on physical model of gearbox mechatronic system representing flexible mechanism occurring in rolling mill machines.

Full paper

003.pdf

Session

Linear and Non-linear Control System Design (Lecture)

Reference

Belda, K.: Probabilistically Tuned LQ Control for Mechatronic Systems. Editors: Fikar, M., Kvasnica, M., In Proceedings of the 17th International Conference on Process Control ’09, Štrbské Pleso, Slovakia, 37–43, 2009

BibTeX
@inProceedings{pc09-003,
author = {Belda, K.},
title = {Probabilistically Tuned LQ Control for Mechatronic Systems},
booktitle = {Proceedings of the 17th International Conference on Process Control '09},
year = {2009},
pages = {37-43},
editor = {Fikar, M. and Kvasnica, M.},
address = {Štrbské Pleso, Slovakia},
publisher = {Slovak University of Technology in Bratislava},
url = {http://www.kirp.chtf.stuba.sk/pc09/data/papers/003.pdf}}
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