Decentralized Optimal Controller for Interconnected Systems according to a Reference Model

Abstract

This paper presents a decentralized optimal controller according to a reference model that allows trajectory tracking for linear interconnected systems. The synthesized decentralized optimal control is the result of developing a solution for the Decentralized modied Algebraic Riccati Equation (D-ARE) of linear interconnected systems. The main contribution of this paper is to assure the global asymptotic stability of the system under study, using the smart combination between the quadratic function properties and the stability analysis approach based on Lyapunov direct method. The leverage of the proposed decentralized optimal approach is illustrated via simulation results on an interconnected system composed of a triple inverted pendulums, which have proven that the new stability conditions are satisfactory and efficient.