LQG controller design applied to a pneumatic stewart-gough platform

Karmjit Singh Grewal, Roger Dixon, John Pearson

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


This paper is concerned with the practical application control of a pneumatically actuated Stewart-Gough platform with 6-degrees of freedom (6-DOF). The control approach for motion control of the platform is presented using a modern control technique, namely, linear quadratic Gaussinn (LQG) with reference tracking. The LQG controller is the combination of a Kalman filter, i. e., a linear-quadratic estimator (LQE) with a linear-quadratic regulator (LQR). The robustness of the control scheme is accessed under various load conditions, and the experimental results are shown.

Original languageEnglish
Pages (from-to)45-53
Number of pages9
JournalInternational Journal of Automation and Computing
Issue number1
Publication statusPublished - 1 Feb 2012


  • inverse kinematics
  • Kalman filter
  • pneumatic actuation
  • Real-time control
  • Stewart-Gough platform

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Applied Mathematics


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