| Popis: |
In this chapter, the optimal decentralized control problem is studied, where it is desired to design a decentralized controller which minimizes a prescribed quadratic function of the input energy and tracking error. The performance index is minimized over a set of uniformly distributed initial conditions on a sphere. For the case when a servomechanism problem is to be solved for constant signals while minimizing the quadratic performance index, a slightly different problem formulation is provided. It is shown that in both cases, the optimal control parameters can be obtained by solving a Lyapunov equation. |
