Stabilization of MIMO Time Delay System Using Hybrid Controller of Internal Model Control and Feedforward Control

概要

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In this paper, we aim to stabilization the unstable system by loop shaping method. Moreover after stabilizing the system we need to modify the system which is unstable due to time-delay element by Internal Model Controller with feed forward considering the uncertainty of control object and time-delay el. Time-delay will occur during the long distance communication. Therefore, when control object is located in distance, the transmitted reference signal will be delayed. For this reason even though we stabilize the control plant by loop-shaping, it will be an unstable system due to time-delay elements. In this paper we consider an unstable control plant such as HIMAT. Generally, HIMAT is unmanned aircraft which is required be controlled from distance by communication system that means in this system we have time-delay element. Our aim is to stabilize the closed loop system with Internal Model controller and realize the better performance of system using feed forward control.
琉球大学工学部の論文
2010-00-00