A Practical H^∞ Two Degrees of Freedom Controller Design and Its Applications to Servo Systems

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概要

• 論文の詳細を見る

• We consider the problem of applying H∞ optimization techniques to design a TDOF controller for robust servo systems. We introduce a two-step H∞ optimization procedure: a feedback controller is designed to satisfy feedback properties and a prefilter is used to improve reference tracking performance. We describe a mixed sensitivity optimization scheme that is used for the feedback controller design, and propose a frequency shaping philosophy that highlights key issues for the prefilter design. We discuss the uncertainties in DC motor model and explain how to treat the parametric and non-parametric uncertainties in H∞ optimization framework. We also show a design example for a DC motor with parametric uncertainties and analyze the tracking property in terms of design strategy and parameters change.

• 社団法人 電気学会の論文
• 1996-09-20

著者

• Hori Yoichi

  The University Of Tokyo

• CAO Liyu

  The University of Tokyo

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