マルチレート制御による離散時間系の完全追従制御の一設計法(機械力学,計測,自動制御)

概要

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This paper presents a design method of perfect tracking control, for discrete-time systems based on multi-rate control. Generally, perfect tracking control schemes cannot be applied to nonminimum phase plants because of unstable pole-zero cancellations. Some methods that are applicable to nonminimum phase plants have been proposed, however, the following problems are left unsolved : limitations to plants and unclearness of design freedoms. We propose to use multi-rate control systems and state feedback schemes for perfect tracking. Since the method has been stated in 2-degree of freedom control techniques in this paper, it is clear how the design freedoms will be reserved after the design of tracking control. Basic techniques of this scheme have been presented, however, they cannot be applied to nonminimum phase discrete-time systems. We propose techniques that are applicable to nonminimum phase discrete-time systems. Finally, computer simulation results are presented.
社団法人日本機械学会の論文
2003-06-25