Abstract
ABSTRACT Using Euler-Lagrange analysis the state-space model of the slosh-container system is obtained. This state-space description undergoes approximate linearization with the use of Taylor series expansion and the computation of Jacobian matrices around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model, an H-infinity feedback controller is designed. The proposed control method stands for the solution of the nonlinear optimal control problem for the slosh-container system, under model uncertainties and external perturbations. To find the controller's feedback gains an algebraic Riccati equation is solved at each time-step of the control method. The new nonlinear optimal control approach achieves fast and accurate tracking of setpoints for all state variables of the slosh-container system, under moderate variations of the control inputs. The stability properties of the control scheme are proven through Lyapunov analysis.
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