非最小位相系の適応制御の新しい方法

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The usual adaptive control techniques cannot be applied to nonminimum phase systems. To overcome this problem, zero phase error tracking algorithm for digital control has been proposed. This is a noncausal feedforward controller which ensures the DC gain of the system is unity and tracking phase error for all frequencies is zero. Therefore, this controller cannot be used if the desired output trajectory has a high frequency. Other methods based upon approximate inverse systems(AIS i.e. FIR filters) has been proposed to cancel the effect of unstable zeros on the plant output. However, using these techniques gain response of the system can be obtained nearly unity by selecting a suitable approximate inverse system of the unstable numerator polynomial of the plant, but the tracking phase error for all frequencies is not zero. This paper suggests a new technique to cancel the effect of numerator polynomial of the plant exactly by using m noncausal FIR filters in the feedforward path of the closedloop system and then using this data as an input to closedloop system in serial form. Here m is the degree of the numerator polynomial of the plant. Once the effect of the unstable zeros is decoupled from the plant output, then it is easy to design a control system for the plant such that the transfer function of the system from the reference input to the system output may not contain the nonminimum phase zeros of the plant (i.e.,the desired output trajectory of the system will not depend upon the plant).The method can be used for both minimum phase and nonminimum phase systems in the same way, and so it is not necessary to know whether the plant is a minimum or nonminimum phase system in advance.
社団法人電子情報通信学会の論文
1996-03-11

非最小位相系の適応制御の新しい方法

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