Uppsala universitet

LQG Feedforward Regulator Design for Deterministic and Stochastic Disturbances

Mikael Sternad

Report UPTEC 89058R , August 1989.

Report in pdf

Linear feedforward regulators can be designed by solving a spectral factorization and a linear polynomial equation. A quadratic criterion with penalty on a filtered control signal is minimized. This constitutes a simple systematic way to design feedforward regulators for non-minimum phase systems.

The approach is discussed for disturbances modelled by systems with poles on the stability limit. Regulators can be designed for shape-deterministic disturbances, such as random step and ramp sequences, in the same way as for stochastic disturbances.

Related publications:
Paper in IJC 1991, on adaptive scalar LQG combined feedback and feedforward control.
Book chapter on multivariable LQG feedforward and adaptive LQG control.
Paper in IJC 1993, on the duality between feedforward control and deconvolution.
Paper in Automatica 1993 which includes the robust design of scalar feedforward filters.
PhD Thesis by Kenth Öhrn 1996, with robust design of multivariable feedforward filters.

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