How to design a controller for a symmetric system considering symmetric (not lumped system) dynamics in design?

16 August 2013 1 956 Report

I have been working on LQR design. The system for which I'm designing a controller has symmetric dynamics, and to consider the effect of disturbance I can't consider the lumped system. Because of complete system for design consideration, I'm not getting controllability full rank. Could you please guide me or suggest some literature?

Jitendra Shah

I am not espert in the system. Once I had similar issues of not having full rank controllability. Probably, you can reduce the matrix by eliminating integrators. For example you may have yaw rate and yaw angle as state or lateral velocity and lateral deviation as states. you can get rid of integrators.

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