PROJECT TITLE :

Robust Adaptive Controller Combined With a Linear Quadratic Regulator Based on Kalman Filtering

ABSTRACT:

This work presents a control algorithm that incorporates a Reference Model Strong Adaptive Controller $(RMRAC)$ and a Linear Quadratic Regulator primarily based on Kalman Filtering $(LQR_KF)$ to get a high performance and sturdy control system. The adaptive portion of the controller deals with system uncertainties, while the optimum theme, aided by a Kalman Filter, is intended to house harmonically related system disturbances. A proof of stability is presented in addition to a numerical example of the combined $RMRAC-LQR_KF$ controller to point out the effectiveness of this new management approach.