Research on LQ Controller Design and its Parameter Tuning using Error-based Extended State Observer

Research on LQ Controller Design and its Parameter Tuning using Error-based Extended State Observer | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Research on LQ Controller Design and its Parameter Tuning using Error-based Extended State Observer Jong-Su Kang, Su-Yong Paek, Kwang-Hyok So, Chol-Jun Hwang This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7716998/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Although LQ(Linear Quadratic) control is simple in structure and easy to implement, it suffers from the degradation of its control performance for an essential nonlinear plant as this control method is based on a linear model. The ESO(Extended State Observer) estimates not only the model uncertainty but also the external disturbances as total disturbances. We first construct an extended state equation by introducing a new state which contains non-linearity, model uncertainty and disturbance. Since the extended state equation is a linear state equation, the LQ controller design method can be used for this equation. Then, the important parameters of the LQ controller, the state weight coefficient matrix and the input weight coefficient matrix, are determined using the diffusion-type PSO(Particle Swarm Optimization)-gradient hybrid optimization algorithm. The obtained controller is applied to the stabilization control for IWP(Inertia Wheel Pendulum) to verify its effectiveness. Error-based ESO(Extended state observer) LQ (Linear quadratic) Control PSO(Particle Swarm Optimization) algorithm Hybrid Optimal Algorithm ADRC(Active disturbance rejection control) Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7716998","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":531740166,"identity":"93ac6212-b954-47f9-bd7e-dabe6ddf4360","order_by":0,"name":"Jong-Su 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algorithm, Hybrid Optimal Algorithm, ADRC(Active disturbance rejection control)","lastPublishedDoi":"10.21203/rs.3.rs-7716998/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-7716998/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eAlthough LQ(Linear Quadratic) control is simple in structure and easy to implement, it suffers from the degradation of its control performance for an essential nonlinear plant as this control method is based on a linear model. The ESO(Extended State Observer) estimates not only the model uncertainty but also the external disturbances as total disturbances. We first construct an extended state equation by introducing a new state which contains non-linearity, model uncertainty and disturbance. Since the extended state equation is a linear state equation, the LQ controller design method can be used for this equation. Then, the important parameters of the LQ controller, the state weight coefficient matrix and the input weight coefficient matrix, are determined using the diffusion-type PSO(Particle Swarm Optimization)-gradient hybrid optimization algorithm. The obtained controller is applied to the stabilization control for IWP(Inertia Wheel Pendulum) to verify its effectiveness.\u003c/p\u003e","manuscriptTitle":"Research on LQ Controller Design and its Parameter Tuning using Error-based Extended State Observer","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-10-22 20:45:59","doi":"10.21203/rs.3.rs-7716998/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"5b7ffcff-c0be-4ee1-a7fe-0152e78d86f7","owner":[],"postedDate":"October 22nd, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[],"tags":[],"updatedAt":"2026-02-15T22:38:13+00:00","versionOfRecord":[],"versionCreatedAt":"2025-10-22 20:45:59","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-7716998","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-7716998","identity":"rs-7716998","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}