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    Iterative LQG Controller Design Through Closed-Loop Identification (1996)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: This paper presents an iterative Linear Quadratic Gaussian (LQG) controller design approach for a linear stochastic system with an uncertain open-loop model and unknown noise statistics. This approach consists of closed-loop identification and controller redesign cycles. In each cycle, the closed-loop identification method is used to identify an open-loop model and a steady-state Kalman filter gain from closed-loop input/output test data obtained by using a feedback LQG controller designed from the previous cycle. Then the identified open-loop model is used to redesign the state feedback. The state feedback and the identified Kalman filter gain are used to form an updated LQC controller for the next cycle. This iterative process continues until the updated controller converges. The proposed controller design is demonstrated by numerical simulations and experiments on a highly unstable large-gap magnetic suspension system.
    Keywords: Cybernetics
    Type: NASA-CR-203238 , NAS 1.26:203238 , Journal of Dynamic Systems, Measurement and Control; 118; 366-372
    Format: application/pdf
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  • 2
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    Indirect Identification of Linear Stochastic Systems with Known Feedback Dynamics (1996)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: An algorithm is presented for identifying a state-space model of linear stochastic systems operating under known feedback controller. In this algorithm, only the reference input and output of closed-loop data are required. No feedback signal needs to be recorded. The overall closed-loop system dynamics is first identified. Then a recursive formulation is derived to compute the open-loop plant dynamics from the identified closed-loop system dynamics and known feedback controller dynamics. The controller can be a dynamic or constant-gain full-state feedback controller. Numerical simulations and test data of a highly unstable large-gap magnetic suspension system are presented to demonstrate the feasibility of this indirect identification method.
    Keywords: Cybernetics
    Type: NASA-CR-203237 , NAS 1.26:203237 , Journal of Guidance, Control, and Dynamics; 19; 4; 836-841
    Format: application/pdf
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