Youlaパラメトリゼーションに基づく構造系と制御系の同時最適設計

概要

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This paper deals with simultaneous optimal design of structure and control systems. For structures with collocated sensors and actuators, a stabilizing state-feedback gain and an estimator gain can be derived easily. Using these two gain matrices, we can parameterize all stabilizing controllers for the structure by Youla parameterization scheme. Since stability of the closed-loop system is completely guaranteed, we can optimize design parameters in the structure and the controller simultaneously without taking two-step procedures which consist of the step for controller synthesis and that for structural parameter tuning. Hence, convergence to the local optima is achieved using standard descent-based nonlinear optimization techniques (steepest descent, Newton method, etc. ). By a design example, we show the effectiveness of the proposed design method.
一般社団法人日本機械学会の論文
1999-02-25