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Curran's model matching method is outlined and refined in this paper. The main points of improvement are: to assure the nonsingularity of the matrix L1 so that the algorithm may always work; to show the applicability of the algorithm to the systems in which the input terms are included in the output equations; and also to the systems with different input/output dimensions. The former two points are brought about by utilizing the equicontrollable canonical form representations with augmented controllability index. These results enable us to complete the matching, if the plant and model have the same number of inputs and outputs, within the allowance of the modification by the factor, βν/(s+β)ν, which is introduced to the model in order to assure the realizability of the dynamic compensator. It is also shown that the stability property of the compensator discussed by Curran is false. The efficiency of the algorithm will be illustrated in the numerical examples, and the effects of the location of the unobservable poles on the performance of the augmented plant will also be discussed.
公益社団法人計測自動制御学会の論文