The Design Method of a Two-Degree-of-Freedom Controller Using .MU.-Synthesis. With The Construction of the Controller Taking into Account Disturbance Observer.
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概要
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We discrive a design method for two-degree-of-freedom controller system based on the internal structure. Firstly, we examine the internal structure of the system and derive a condition which clearly demonstrates the equivalence between the disturbance observer based controller and the generalized two-degree-of-freedom controller. Secondly, we propose a design method of two-degree-of-freedom controller using μ-synthesis taking into account the structure of the system. Finally, we present some simulation results of velocity control of a two-mass system and confirm the effectiveness of the proposed method.
- 一般社団法人 日本機械学会の論文
一般社団法人 日本機械学会 | 論文
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