近似的モデルマッチング法を用いた二自由度ディジタル制御系の設計 : 第1報, スカラ系の場合

概要

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In this paper, we propose a new method of designing a digital controller. We consider the design problem for a two-degree-of-freedom control system with a feedforward controller. First, we design a cascade controller in order to obtain a desirable sensitivity and stability margin. Then, we design a feedforward controller so that the resulting control system may satisfy a specification with respect to the reference command. The proposed method is based on minimizing a frequency-weighted error so that the resulting control system approximates the specified reference model. A square error criterion is introduced as a measure of the approximation. By minimizing the criterion, a linear equation is obtained for parameters of a FIR (finite impulse response) controller. Using the method, we can design a control system by a low-order controller which realizes the desirable accuracy of the approximation without regard to the order of the plant or the reference model.
社団法人日本機械学会の論文
1992-07-25