2026-09-19T18:15:25Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/44105 2023-07-11 col_2142_5131 col_2142_8888 com_2142_5130 com_2142_8887 com_2142_234

2013-05-24T21:50:51Z 2013-05 Levinson, Stephen E. Wendt, Luke 2013-05-24T21:50:51Z 2013-05-24T21:50:51Z 2013-05 This thesis introduces ΘLQG, the hyper extension of the Linear Quadratic Gaussian Regulator, for solving general purpose (locally optimal) nonlinear adaptive control on multiple-input multiple-output systems. This approach can be used to stabilize an under-actuated under-observed nonlinear dynamic system with noisy measurements while simultaneously identifying system parameters. It requires a parameterized dynamic model with operation about equilibrium points. Its general construction can also be used in disturbance rejection, gain scheduling and reference tracking. Specific case examples are introduced. Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2013-04-23T12:38:42Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 2 wendt_luke.pdf: 2730764 bytes, checksum: e206f37437969f89e7857445d13da176 (MD5) wendt_luke.pdf: 2730773 bytes, checksum: cd64b9ffac78d5b9a20e9a81fb843f1f (MD5) Made available in DSpace on 2013-05-24T21:50:51Z (GMT). No. of bitstreams: 2 Luke_Wendt.pdf: 2730773 bytes, checksum: cd64b9ffac78d5b9a20e9a81fb843f1f (MD5) license.txt: 4058 bytes, checksum: 01e31feeb5fa2cc03aa834fa9836ba38 (MD5) http://hdl.handle.net/2142/44105 en Copyright 2013 Luke Adam Wendt Optimal Adaptive Control Multiple-Input Multiple-Output (MIMO) Extended Kalman Filter (EKF) Hyper-Extended Kalman Filter (EKF) Linear Quadratic Regulator (LQR) Linear Quadratic Gaussian Regulator (LQG) Hyper Extended LQG (ΘLQG) Pendulum on Cart Optimal adaptive control with ΘLQG text Electrical & Computer Eng 1933 Electrical & Computer Engr 1200 University of Illinois at Urbana-Champaign Thesis M.S. MS:Electr & Computer Eng-UIUC 10KS1200MS