構造的に安定なバックラッシを含む有限時間整定系の設計

概要

論文の詳細を見る
The linear finite settling time control system was designed previously. Next the nonlinear feedback system with backlash is designed. Backlash, being included in gear, is decomposed into gain (gear ratio) and bouned disturbance. It is one methed to remove the influence of bounded disturbance to make its amplitude of bounded one small. Another method is to make the absolute value of poles of plant large by pole allocation. And when the gain of backlash varies as deterioration as time goes on, it is possible to prove to be structually stable. The closed loop is organized and the outputs of plant converge to reference inputs, except small error. If the controller of the closed system is designed by model and the gain of backlash, it is possible to design to be structually stable in spite of the error of off line identification, and the disturbances as long as they are small.
岡山理科大学の論文