State feedback controller tuning for liquid slosh suppression system utilizing LQR-LMI approach
This paper presents a tuning constraint optimization approach in state feedback controller for liquid slosh suppression system. A suboptimal LQR method is employed to obtain the optimal gain parameters in minimizing the selected cost function. Due to complexity of the nonlinear slosh system, a parti...
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| Format: | Conference or Workshop Item |
| Language: | English English |
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IEEE
2021
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| Online Access: | http://umpir.ump.edu.my/id/eprint/32257/ http://umpir.ump.edu.my/id/eprint/32257/1/State%20feedback%20controller%20tuning%20for%20liquid%20slosh%20suppression%20system.pdf http://umpir.ump.edu.my/id/eprint/32257/2/State%20feedback%20controller%20tuning%20for%20liquid%20slosh%20suppression%20system_FULL.pdf |
| _version_ | 1848823976915107840 |
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| author | Nurul Najihah, Zulkifli Mohd Syakirin, Ramli |
| author_facet | Nurul Najihah, Zulkifli Mohd Syakirin, Ramli |
| author_sort | Nurul Najihah, Zulkifli |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents a tuning constraint optimization approach in state feedback controller for liquid slosh suppression system. A suboptimal LQR method is employed to obtain the optimal gain parameters in minimizing the selected cost function. Due to complexity of the nonlinear slosh system, a partial linearization method was first performed to obtain its linear state space representation. Due to the presence of the large steady-state error caused by the implementation of only the state feedback gains, an additional integral term has also been introduced to mitigate its effects. A comparative assessment on the system performance is investigated between regular LQR and LQR-LMI control algorithms. The presented results indicated that the LQR-LMI exhibited better transient response performance as compared to the regular LQR for the case of moving the cart to its intended final position while ensuring the slosh motion is suppressed to a minimum angle. |
| first_indexed | 2025-11-15T03:05:42Z |
| format | Conference or Workshop Item |
| id | ump-32257 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T03:05:42Z |
| publishDate | 2021 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-322572022-02-10T03:08:50Z http://umpir.ump.edu.my/id/eprint/32257/ State feedback controller tuning for liquid slosh suppression system utilizing LQR-LMI approach Nurul Najihah, Zulkifli Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering This paper presents a tuning constraint optimization approach in state feedback controller for liquid slosh suppression system. A suboptimal LQR method is employed to obtain the optimal gain parameters in minimizing the selected cost function. Due to complexity of the nonlinear slosh system, a partial linearization method was first performed to obtain its linear state space representation. Due to the presence of the large steady-state error caused by the implementation of only the state feedback gains, an additional integral term has also been introduced to mitigate its effects. A comparative assessment on the system performance is investigated between regular LQR and LQR-LMI control algorithms. The presented results indicated that the LQR-LMI exhibited better transient response performance as compared to the regular LQR for the case of moving the cart to its intended final position while ensuring the slosh motion is suppressed to a minimum angle. IEEE 2021-07-30 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/32257/1/State%20feedback%20controller%20tuning%20for%20liquid%20slosh%20suppression%20system.pdf pdf en http://umpir.ump.edu.my/id/eprint/32257/2/State%20feedback%20controller%20tuning%20for%20liquid%20slosh%20suppression%20system_FULL.pdf Nurul Najihah, Zulkifli and Mohd Syakirin, Ramli (2021) State feedback controller tuning for liquid slosh suppression system utilizing LQR-LMI approach. In: 2021 IEEE International Conference on Automatic Control and Intelligent Systems, I2CACIS 2021 , 26 June 2021 , Shah Alam, Malaysia. pp. 52-57. (9495861). ISBN 9781665403436 (Published) https://doi.org/10.1109/I2CACIS52118.2021.9495861 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Nurul Najihah, Zulkifli Mohd Syakirin, Ramli State feedback controller tuning for liquid slosh suppression system utilizing LQR-LMI approach |
| title | State feedback controller tuning for liquid slosh suppression system utilizing LQR-LMI approach |
| title_full | State feedback controller tuning for liquid slosh suppression system utilizing LQR-LMI approach |
| title_fullStr | State feedback controller tuning for liquid slosh suppression system utilizing LQR-LMI approach |
| title_full_unstemmed | State feedback controller tuning for liquid slosh suppression system utilizing LQR-LMI approach |
| title_short | State feedback controller tuning for liquid slosh suppression system utilizing LQR-LMI approach |
| title_sort | state feedback controller tuning for liquid slosh suppression system utilizing lqr-lmi approach |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/32257/ http://umpir.ump.edu.my/id/eprint/32257/ http://umpir.ump.edu.my/id/eprint/32257/1/State%20feedback%20controller%20tuning%20for%20liquid%20slosh%20suppression%20system.pdf http://umpir.ump.edu.my/id/eprint/32257/2/State%20feedback%20controller%20tuning%20for%20liquid%20slosh%20suppression%20system_FULL.pdf |