スライディングモ-ドに着目したリレ-制御系の設計

概要

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A design method of a relay controller is presented, from the viewpoint of the properties of the sliding mode, for a linear stable plant whose representative initial conditions are known. Namely, it is shown that the transient property of the relay control system can be explained qualitatively in terms of the speed of response in the sliding mode and the size of the sliding mode region. Using this relationship, we propose an interactive design algorithm for finding the feedback gain which gives an appropriate property of the sliding mode. Since the properties of this mode depend on the poles of the plant and the zeros of the open-loop transfer function, how to assign the zeros is essentially important. This paper also presents that the LQ optimal gain having one parameter can be utilized for the zero assignment such that the stability of the relay control system is taken into account.A numerical example for a third order system is shown to demonstrate the availability of the proposed algorithm.
公益社団法人計測自動制御学会の論文