Discrete LQG/LTR control augmented by integrators applied to a 2-DOF helicopter
Fernando Sérgio Barbosa, Gabriel Pereira das Neves, Bruno Augusto Angélico · 2016
Linear Quadratic Gaussian (LQR) controller and Kalman Filter (KF) both are robust when acting separately, but this property is lost if using them together. Therefore, a Loop Transfer Recovery (LTR) is made aiming to recover this robustness. This same statement is valid for discrete time LQG/LTR, and this work presents its application in a 2-DOF helicopter. The complete mathematical modeling is developed using Lagrange's method and the system is linearized around the operating point. Digital LQG/LTR control project is made along with integrator insertion to the plant inputs. This helicopter is an interesting plant, allowing the study of many subjects, such as Kalman Filters, sensor fusion, modeling techniques and classical control. Simulation and practical results are presented, showing the controller effectiveness.