多入出力系に対するマルチレートサンプリングを用いたロバスト適応出力フィードバック制御 : 第1報,制御系設計および安定性解析(機械力学,計測,自動制御)

概要

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In adaptive output feedback control based on almost strictly positive real conditions, a technical difficulty arise when the multi-input, multi-output (MIMO) system under consideration is nonsquare. To overcome this problem, the idea of multirate sampled-data control will be proposed. That is, through careful choice of faster input sampling rates, we create a lifted discrete-time system which has the same number of inputs and outputs without the causality constraint. The output feedback based adaptive control strategy can then be applied to this lifted system under certain conditions. In this report, we also propose a robust adaptive output feedback controller design scheme for non-square MIMO systems using the multirate sampling strategy which can solve the causality problem and show that all the signals in the resulting closed loop control system are bounded.
社団法人日本機械学会の論文
2007-03-25