構造的に安定な2自由度有限時間整定系の設計

概要

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He uses multivariable sampled-data control system by two-degrees-of-freedom. When denominator matrix of the left irreducible matrix quotient expression of z transformation R(z) of the reference input r(t) is set as a part of the control device of the feedforward parts without the rounding error, that is reference inputs are the polynomial of time t, or denominator of reference inputs R(z) is a polynomial matrix of (1-z^<-1>), then it is possible to design robust sampled-data control system. He sets some analogous servo precompensator 1/s^k as polynomial approximation of reference inputs and 1/s^2+ω^2 for disturbance rejection of Fourier transformation by internal model principle. Then the disturbances are almost eliminated. Compared with one-degree-of freedom, settling time is shortened in two-degrees-of-freedom generally.
岡山理科大学の論文