Steady-State Linear Quadratic Tracking Controller for Vibration Suppression

R. Alba-Flores (USA)


Linear-Quadratic Methods, Tracking, Vibration Suppres sion, Flexible Structures.


This paper reports the design and implementation steps that have been investigated to suppress vibrations in slew ing maneuvers of flexible structures under the steady-state linear-quadratic tracking (SS LQT) framework. The opti mal LQT control law consists of the sum of two terms. One of the terms is computed by solving the Algebraic Riccati Equation, the second term involves a steady-state function vss(t) that solves an auxiliary, forced differential equation with unknown initial condition. The computation of vss(t) can be determined by integrating the auxiliary differential equation backwards in time. For real-time applications, the backward in time method should be avoided. An al ternate method can be used for the cases where a model following reference signal is appropriate. In the present paper a methodology that can be used to design real-time SS LQT controllers for suppression of vibration in flexible beams in presented. A numerical example is included to illustrate the method.

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