Robust Servo System With Adaptive Compensation Input For Linear Uncertain Systems  

Oleh:

OYA, Hidetoshi ; HAGINO, Kojiro

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 972-977.
Topik: Input; Linear Uncertain System; Robust; Servo System;
Fulltext: AC021439.PDF (243.66KB)

Isi artikel

This paper deals with a design problem of a robust servo system which achieves not only robust stability and tracking but also performance robustness for linear systems with structured uncertainties satisfying matching condition. The performance robustness means that the deterioration of control performance is suppressed when we compare the transient behavior for the uncertain system with a desirable one generated by using the nominal system directly. In this approach, we assume that the control law consists of a state feedback with a feedback gain, feedforward input from reference signal which are designed by using the nominal system, a parameter adjustment law to guarantee robust stability and a compensation input for the purpose of keeping transient behavior as closely as possible to the desirable one. In this paper, we show the parameter adjustment law and that the existence condition of the compensation input is equivalent to the Riccati equation for standard linear quadratic control problem.

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