State dependent Riccati equation based filtering and control of a magnetorheological fluid brake

A theoretical/experimental activity has been carried out on a magnetorheological fluid brake prototype. A non-linear observer and an optimal control have been designed and tested on the physical device. Both the feedback control and the state observer are based on the state dependent Riccati equation technique. A first order non-linear dynamic model has been derived and adopted for the development of the braking torque control system. Simulation results confirm the goodness of the proposed control scheme which effectiveness has been evaluated by means of hardware in the loop tests.