非線形入力特性を有する双曲型分布定数系の有限次元モデル規範形適応H∞制御

概要

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The problem of constructing model reference adaptive H∞ control for distributed parameter systems of hyperbolic type preceded by unknown input nonlinearity such as dead zone or backlash, is considered in this paper. Distributed parameter systems are infinite dimensional processes, but the proposed control scheme is constructed from finite dimensional controllers. An adaptive inverse model is introduced to estimate and compensate the input nonlinearity. The stabilizing control signal is added to regulate the effect of spill-over terms, and it is derived as a solution of certain H∞ control problem where the residual part of the inverse model and the spill-over term are considered as external disturbances to the process.
公益社団法人計測自動制御学会の論文