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Research Papers

Linear Matrix Inequalities Approach to Input Covariance Constraint Control With Application to Electronic Throttle

[+] Author and Article Information
Ali Khudhair Al-Jiboory, Andrew White, Shupeng Zhang

Department of Mechanical Engineering,
Michigan State University,
East Lansing, MI 48824

Guoming Zhu, Jongeun Choi

Department of Mechanical Engineering,
Department of Electrical
and Computer Engineering,
Michigan State University,
East Lansing, MI 48824

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 17, 2014; final manuscript received March 24, 2015; published online June 24, 2015. Assoc. Editor: Ryozo Nagamune.

J. Dyn. Sys., Meas., Control 137(9), 091010 (Sep 01, 2015) (9 pages) Paper No: DS-14-1421; doi: 10.1115/1.4030525 History: Received October 17, 2014; Revised March 24, 2015; Online June 24, 2015

In this paper, the input covariance constraint (ICC) control problem is solved by convex optimization subject to linear matrix inequalities (LMIs) constraints. The ICC control problem is an optimal control problem that is concerned to obtain the best output performance subject to multiple constraints on the input covariance matrices. The contribution of this paper is the characterization of the control synthesis LMIs used to solve the ICC control problem. Both continuous- and discrete-time problems are considered. To validate our scheme in real-world systems, ICC control based on convex optimization approach was used to control the position of an electronic throttle plate. The controller performance compared experimentally with a well-tuned base-line proportional-integral-derivative (PID) controller. Comparison results showed that not only better performance has been achieved but also the required control energy for the ICC controller is lower than that of the base-line controller.

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References

Figures

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Fig. 1

An electronic throttle system

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Fig. 3

Experimental tracking and signals of throttle the ICC control

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Fig. 4

Tracking experiment for different throttle angles

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Fig. 5

Experiment and simulation tracking (raising edge)

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Fig. 6

Experiment and simulation tracking (falling edge)

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Fig. 7

Performance comparison between ICC and PID controllers

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Fig. 2

Experiment test bench setup and block diagram

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Fig. 8

Performance versus control energy

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