{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/83761"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/83761","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Analysis and Real-Time Implementation of State -Dependent Riccati Equation Controlled Systems","abstract":"Finally, experimental real-time control using SDRE is addressed. The plant used is the Pendubot, a two-link underactuated robot, which is a highly nonlinear 4th order system. The SDRE control is calculated by solving the Algebraic Riccati Equation online and the Pendubot is regulated at one of its unstable positions. The results show that the computational power requirement associated with SDRE real-time control is not very high. Simulation and experimental results reveal the advantages of SDRE control over LQR.","abstract_html":"Finally, experimental real-time control using SDRE is addressed. The plant used is the Pendubot, a two-link underactuated robot, which is a highly nonlinear 4th order system. The SDRE control is calculated by solving the Algebraic Riccati Equation online and the Pendubot is regulated at one of its unstable positions. The results show that the computational power requirement associated with SDRE real-time control is not very high. Simulation and experimental results reveal the advantages of SDRE control over LQR.","abstract_has_math":false,"creators":["Erdem, Evrin Bilge"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Andrew Alleyne"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-09-25T21:11:55Z","date_published":"2015-09-25T21:11:55Z","updated_at":"2026-07-22T22:26:21Z","subjects":["Engineering, Mechanical"],"languages":["eng"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["(MiAaPQ)AAI3023052"],"render_values":[{"text":"(MiAaPQ)AAI3023052","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/83761","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Andrew Alleyne"]},{"key":"dc:creator","label":"Author","values":["Erdem, Evrin Bilge"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-09-25T21:11:55Z","10000-01-01","2001"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, Mechanical"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/83761","(MiAaPQ)AAI3023052"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Finally, experimental real-time control using SDRE is addressed. The plant used is the Pendubot, a two-link underactuated robot, which is a highly nonlinear 4th order system. The SDRE control is calculated by solving the Algebraic Riccati Equation online and the Pendubot is regulated at one of its unstable positions. The results show that the computational power requirement associated with SDRE real-time control is not very high. Simulation and experimental results reveal the advantages of SDRE control over LQR.","Made available in DSpace on 2015-09-25T21:11:55Z (GMT). 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The plant used is the Pendubot, a two-link underactuated robot, which is a highly nonlinear 4th order system. The SDRE control is calculated by solving the Algebraic Riccati Equation online and the Pendubot is regulated at one of its unstable positions. The results show that the computational power requirement associated with SDRE real-time control is not very high. Simulation and experimental results reveal the advantages of SDRE control over LQR.","Made available in DSpace on 2015-09-25T21:11:55Z (GMT). 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