State feedback controller tuning for liquid slosh suppression system utilizing LQR-LMI approach

Nurul Najihah, Zulkifli and Mohd Syakirin, Ramli (2021) State feedback controller tuning for liquid slosh suppression system utilizing LQR-LMI approach. In: 2021 IEEE International Conference on Automatic Control and Intelligent Systems, I2CACIS 2021 , 26 June 2021 , Shah Alam, Malaysia. pp. 52-57. (9495861). ISBN 9781665403436

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Abstract

This paper presents a tuning constraint optimization approach in state feedback controller for liquid slosh suppression system. A suboptimal LQR method is employed to obtain the optimal gain parameters in minimizing the selected cost function. Due to complexity of the nonlinear slosh system, a partial linearization method was first performed to obtain its linear state space representation. Due to the presence of the large steady-state error caused by the implementation of only the state feedback gains, an additional integral term has also been introduced to mitigate its effects. A comparative assessment on the system performance is investigated between regular LQR and LQR-LMI control algorithms. The presented results indicated that the LQR-LMI exhibited better transient response performance as compared to the regular LQR for the case of moving the cart to its intended final position while ensuring the slosh motion is suppressed to a minimum angle.

Item Type:	Conference or Workshop Item (Lecture)
Additional Information:	Indexed by Scopus
Uncontrolled Keywords:	Slosh suppression; State feedback controller; Integral action; Suboptimal LQR; Linear Matrix Inequality (LMI)
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division:	Faculty of Electrical & Electronic Engineering Institute of Postgraduate Studies
Depositing User:	Dr Mohd Syakirin Ramli
Date Deposited:	10 Feb 2022 03:08
Last Modified:	10 Feb 2022 03:08
URI:	http://umpir.ump.edu.my/id/eprint/32257
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