Linear-quadratic output regulator for systems with disturbance: Application to vehicle launch control

AMT(automated manual transmission) launch control performance cannot be guaranteed when the clutch friction coefficient, vehicle mass and road slope angle vary to some large extent. In this paper, a linear quadratic output regulator with disturbance/modeling error observer is proposed to provide consistent optimal performance. The control law is derived as a linear feedback form of the system states and the disturbance/estimated modeling error, and the system output is guaranteed to be asymptotically stable, which will significantly relax the dependence of the controller on modeling accuracy, and extend the application of LQR theory. Finally, the proposed control law is tested through simulation and experiment tests of a mid-size passenger car.