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Low Cost Output Feedback Controllers for Small UAVs

[+] Author Affiliations
Chandra B. Asthana

Concordia University, Montreal, QC, Canada

Seetharama M. Bhat

Indian Institute of Sciences, Bangalore, India

Paper No. DETC2011-47518, pp. 895-900; 6 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME


This article demonstrates that many general forms of pre-compensators can be included in a Multi-Input-Multi-Output (MIMO) plant with a very general state-space description and the augmented plant can be reduced to static output feedback (SOF) form that is required for optimal design. The main contribution lies in solving very cumbersome algebraic matrix equations, for each configuration, to separate the unknown parameters after the optimal static output feedback gain matrix is achieved. Once the designers see that such configurations with chosen pre-compensators can be dealt with, they would be motivated to consider a suitable configuration for the specific application and finally achieve low cost controllers that are simple to implement and require low computational power.

Copyright © 2011 by ASME



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