MULTIRATE ROBUST SERVOMECHANISM CONTROLLERS OF LINEAR DELAY SYSTEMS USING A HYBRID STRUCTURE

Abstract

A multirate robust servomechanism controller design for a linear time delay system is presented. The proposed controller is constructed by using a preparatory continuous internal model followed by a multirate error feedback compensator. An optimal algorithm for choosing the controller parameters is also derived. The algorithm is derived by minimizing a squared deviation error performance index, and the practical optimal solution can simply be solved from a discrete-time algebraic Riccati equation. A distinctive feature of the algorithm is that an optimal pulse compensation is also employed to improve the transient characteristics. Such a pulse compensation tends to eliminate the undesired influence arising from the initial deviation from the ultimate steady-state. In particular, if the initial deviation from the ultimate steady-state is known, then the optimal pulse compensation can drive the system into the steady-state in a time no larger than the input delay time plus the sampling period.