標題: | Robust observer-controller compensator design using the loop shaping design procedure and the algebraic method |
作者: | Lee, An-Chen Pan, Yi-Ren Huang, Yuan-Yong 機械工程學系 Department of Mechanical Engineering |
關鍵字: | Youla-Kucera parameterization;H(infinity)-loop shaping design procedure;left coprime factorization;tracking control;sinusoidal disturbance rejection |
公開日期: | 10-七月-2010 |
摘要: | This paper investigates robust observer-controller compensator design using Vidyasagar's structure (VS). VS has a unit matrix parameter H similar to the Q parameter for the Youla-Kucera parameterization. VS can be designed based on the left coprimeness of the central controller in the H(infinity)-loop shaping design procedure (H(infinity)-LSDP) and therefore can preserve the intrinsic properties of the H(infinity)-LSDP. This paper introduces algebraic methods to simplify the design of H in the VS controller by solving specific algebraic equations. In particular, the algebraic design of H can achieve two things. First, a dynamic H adjusts the tracking performance and yields the integral action. Second, a dynamic H rejects the input and output sinusoidal disturbances with known frequencies. These attributes are indications of the flexibility of the proposed method since the output-feedback controller design of the H(infinity)-LSDP cannot easily deal with such conditions. This paper discusses the achieved loop and the closed-loop behavior of the system with VS, and also gives two numerical examples. The first example shows that the proposed method results in a better design in many aspects than the resulting from H(infinity)-LSDP. The second example shows the application of the proposed method to rejecting input and output step disturbances, and input and output multiple sinusoidal disturbances, for which the H(infinity)-LSDP can hardly be used. Copyright (C) 2009 John Wiley & Sons, Ltd. |
URI: | http://dx.doi.org/10.1002/rnc.1501 http://hdl.handle.net/11536/5141 |
ISSN: | 1049-8923 |
DOI: | 10.1002/rnc.1501 |
期刊: | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL |
Volume: | 20 |
Issue: | 10 |
起始頁: | 1176 |
結束頁: | 1196 |
顯示於類別: | 期刊論文 |