An algorithm for computationally efficient digital implementation of LTI controllers
- Creators
- Bhattacharya, Raktim
- Balas, Gary J.
Abstract
In this paper we present an algorithm for computationally efficient digital implementation of linear time invariant controllers. The algorithm transforms a linear time invariant controller into a periodically time varying system, which can be digitally implemented in a computationally efficient manner. This is achieved by first decomposing the controller into a dual rate system. A scheduling policy is adopted that spreads the computation, required to update the states of the slower system, over a time horizon. This reduces the total number of states updated at a given time step and hence the computational overhead. A theoretical framework is also developed to analyse the effect of this transformation on the closed-loop stability performance. The theoretical analysis framework relies on multi-rate filter bank theory and lifting techinique used in the analysis of multi-rate control systems.
Additional Information
© 2003 IEEE. This work was funded by DARPA under the Software Enabled Control program with Dr. John Bay as the program manager. The contract number is USAF/AFMC F33615-99-C-1497 and Dale Van Cleave is the technical contract monitor.Attached Files
Published - 01239745.pdf
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Additional details
- Eprint ID
- 77633
- Resolver ID
- CaltechAUTHORS:20170522-150826439
- USAF/AFMC F33615-99-C-1497
- Defense Advanced Research Projects Agency (DARPA)
- Created
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2017-05-22Created from EPrint's datestamp field
- Updated
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2021-11-15Created from EPrint's last_modified field