Design of an optimal state derivative feedback LQR controller and its application to an offshore steel jacket platform

Hakan Yazici, Mert Sever


This paper concerns with the optimal state derivative feedback LQR controller design for vibration control of an offshore steel jacket platform having active tuned mass damper against the wave induced disturbances. Considering that the state derivative signals such as acceleration and velocity are easier to measure rather than the state variables such as displacement, state derivative feedback control strategy is proposed to obtain practically applicable and easily realizable synthesis method. On the basis of convex optimization approach, state derivative feedback LQR controller design is formulated in Linear Matrix Inequalities (LMIs) form to get an optimal feasible solution set. Finally, an offshore steel jacket platform subject to nonlinear self excited wave force is used to illustrate the effectiveness of the proposed approach through simulations. The results show that proposed state derivative LQR controller is very effective in reducing vibration amplitudes of each floor of modeled offshore steel jacket platform and achieves compitable control performance to classical LQR controller design.


Optimal control; state derrivative feedback; convex optimization; offshore steel jacket platform

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