Model predictive control (MPC) is a multi-objective control technique that can handle 2 system constraints. However, the performance of an MPC controller highly relies on a proper 3 prioritization weight for each objective, which highlights the need for a precise weight tuning 4 technique. In this paper, we propose an analytical tuning technique by matching the MPC 5 controller performance with the performance of a linear quadratic regulator (LQR) controller. The 6 proposedmethodology derives the transformation of LQRweightingmatrixwith a fixedweighting 7 factor using discrete algebraic Riccati equation (DARE) and designs MPC controller using the 8 idea of discrete time linear quadratic tracking problem (LQT) in the presence of constraints. 9 The proposed methodology ensures the optimal performance between unconstrained MPC and 10 LQR controller and provides a sub-optimal solution while the constraints are active during 11 transient operations. The resultingMPC behaves as the discrete time LQR by selecting appropriate 12 weighting matrix in the MPC control problem and ensures the asymptotic stability of the system. 13 In this paper, the effectiveness of the proposed technique is investigated in the application of 14 a novel vehicle collision avoidance system which is designed in the form of linear inequality 15 constraints within MPC. The simulation results confirm the potency of the proposed MPC control 16 technique in performing a safe, feasible and collision free path while respecting the inputs, states 17 and collision avoidance constraints.

In this manuscript, we present a high-fidelity physics-based truth model of a Single Machine Infinite Bus (SMIB) system. We also present reduced-order control-oriented nonlinear and linear models of a synchronous generator-turbine system connected to a power grid. The reduced-order control-oriented models are next used to design various control strategies such as: proportional-integral-derivative (PID), linear-quadratic regulator (LQR), pole placement-based state feedback, observer-based output feedback, loop transfer recovery (LTR)-based linear-quadratic-Gaussian (LQG), and nonlinear feedback-linearizing control for the SMIB system. The controllers developed are then validated on the high-fidelity physics-based truth model of the SMIB system. Finally, a comparison is made of the performance of the controllers at different operating points of the SMIB system.

In this work a new pre-tuning multivariable PID controllers method for quadrotors is put forward. A procedure based on LQR/LQG theory is proposed for attitude and altitude control. With the aim of analyzing performance and robustness of the proposed method, a non-linear mathematical model of the DJI-F450 quadrotor is employed, where rotors dynamics, togheter with sensors drift/bias properties and noise characteristics of low-cost comercial sensors typically used in this type of applications (such as MARG with MEMS technology and LIDAR) are considered. In order to estimate the state vector and compensate bias/drift effects on rate gyros of the MARG, a combination of filtering and data fusion algorithms (Kalman filter and Madgwick algorithm for attitude estimation) are proposed and implemented. Performance and robutsness analysis of the control system is carried out by means of numerical simulations, which take into account the presence of uncertainty in the plant model and external disturbances. The obtained results show that the proposed pre-tuning method for multivariable PID controller is robust with respect to: a) parametric uncertainty in the plant model, b) disturbances acting at the plant input, c) sensors measurement and estimation errors.

In-wheel motor vehicles are gaining attention as a new type of electric vehicle due to their efficient power units located inside each wheel hub. However, they are more susceptible to wheel resonance due to the increase in unsprung mass caused by the motor's weight. This can result in decreased both the ride comfort and driving stability. To resolve this issue, this study aims to apply an optimal switching controller with a semi-active n actuator; magnetorheological (MR) damper. For the implementation of the optimal switching controller, a road type classification is also carried out. An acceleration sensor is used for road type classification, and control logics include a ride comfort controller; the linear quadratic regulator (LQR _Paved Road) and a wheel motion controller (LQR_Off Road) for improved driving stability. For paved roads, the LQR_Paved Road control input is applied to the MR damper. However, if a road type prone to wheel resonance is detected, the control logic switches to the LQR_Off Road. During the transition, a weighted average of both LQR_ Paved Road and LQR_Off Road control input is applied to the actuator. Computer simulations are undertaken to evaluate vibration control performance, including the ride comfort and driving stability at various road profiles.

This paper presents two control design strategies for voltage regulation in a single inductor dual output (SIDO) DC-DC Buck converter system. Based on a nominal multiple input multiple output (MIMO) plant model and performance requirements, both an LQR and a decoupled PI control laws are designed to control the power converter system, under parametric uncertainties such as voltage source variation, CPL power variation, and load resistance variation. Therefore, the SIDO converter can cascade operating, which may cause the undesired effects of voltage oscillation and reduce the system's stability margin. The control performance was assessed under both uncertainties resistive loading and power variation of a constant power load (CPL). A SIDO DC-DC Buck converter board has been developed for experimental tests. The experimental results show that the LQR strategy, compared to the PI strategy, presented a robust performance in the presence of parametric uncertainties in the resistive loads being, however, sensitive to uncertainties due to the presence of CPL loads.