Abstract
A decentralized controller design procedure is developed for a special class of mecha-tronic systems in descriptor form using linear quadratic methods. The decentralized system consists of mechanical subsystems with constraint equations up to index 3. Interconnections between the subsystems are limited to be of index 1. Under the assumption of regularity and causality decomposition of the global descriptor system into its Kronecker-canonical form leads to the well known decentralized LQ control problem for normal state-space systems. The advantage of having direct influence on the interconnection variables in the performance index is demonstrated in an example.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
