DESIGN OF CONTROLLER FOR LINEAR MECHANICAL DESCRIPTOR SYSTEMS

Mechanical descriptor systems, i.e., constrained mechanical systems, h ave many applications in practice. This paper studies the control of m echanical descriptor systems. First, a class of the state feedback con trollers assigning the finite poles of mechanical descriptor systems a t any desired locations is presented. Second, based on the degrees of freedom of pole-assignment controller, an optimization method for desi gning the controller that assigns the finite poles of closed-loop mech anical descriptor system and simultaneously minimizes a quadratic perf ormance index is proposed. The necessary condition for the pole-assign ment controller to be optimal is derived and the corresponding algorit hms are discussed. An example is given to illustrate the validity of m ethod in this paper.