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


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