Abstract

In order to reject the steady-state tracking error, it is common to introduce integral compensators in servosystems for constant reference signals. However, if the mathematical model of the plant is exact and no disturbance input exists, the integral compensation is not necessary. From this point of view, a two-degree-of-freedom(2DOF) servosystem has been proposed, in which the integral compensation is effective only when there is a modeling error or a disturbance input. The present paper considers robust stability of this 2DOF servosystem incorporating an observer to the structured and unstructured uncertainties of the controlled plant. A robust stability condition is obtained using Riccati inequality, which is written in a linear matrix inequality (LMI) and independent of the gain of the integral compensator. This result impies that if the plant uncertainty is in the allowable set defined by the LMI condition, a high-gain integral compensation can be carried preserving robust stability to accelerate the tracking response.

주제어

#two-degree-of-freedom servosystem   #robust stability   #unstructured uncertainty   #high-gain integral compensation  

저자의 다른 논문

참고문헌 (10)

1. A tow-degree-of-freedom design of optimal servosystem , Y. Fujisaki;M. Ikeda , Proc. 31st IEEE CDC / v.,pp.3588-3589, 1992
   
2. Synthesis of two-degree-of-freedom servosystems , Y. Fujisaki;M. Ikeda , Trans. SICE / v.27,pp.907-914, 1991
   
3. A tow-degree-of-freedom design method of LQI servo system, Part Ⅰ , T. Hagiwara;T. Yamasaki;M. Araki , 12th IFAC World Congress / v.Ⅰ,pp.453-455, 1993
   
4. A design method of LQI servo systems with two degree of freedom , T. Hagiwara;Y. Ohtani;M. Araki , Trans. iSCIe / v.4,pp.501-510, 1991
   
5. Robust stability and and high-gain compensation of a two-degree-of-freedom servosystem , Y. Kim;Y. Fujisaki;M. Ikeda , The 17th SICE Symposium on Dynamical System Theory / v.,pp.325-330, 1994
   
6. On robust stability of two-degree-of freedom servosystem incorporating an observer , M. Kobayashi;Y. B. Kim;M. Ikeda;Y. Fujiski , The 39th annual Conference of iSCIe / v.,pp.263-264, 1995
   
7. High-gain compensation of a two-degree-of-freedom servosystem incorporating an observer , Y. B. Kim;M. Ikeda;M. Kobayashi;Y. Fujisaki , The 24th SICE Symposium on Control Theory / v.,pp.107-110, 1995
   
8. Robust stability of a two-degree-of-freedom servo-system with unstructured uncertainty , Y. B. Kim;M. Ikeda;Y. Fujisaki , Memoirs of The Graduate School of Science & Technology, KOBE Univ. / v.14-B,pp.73-80, 1996
   
9. Robust stability of uncertain linear systems : Quadratic stability and $H_{\infty}$ control theory , P. P. Khargonekar;I. R. Petersen;K. zhou , IEEE Trans. Automatic Control / v.35,pp.356-361, 1990
   
10. High-Gain feedback & robustness , H. Maeda , J. of SICE / v.26,pp.381-386, 1987
    

이 논문을 인용한 문헌 (0)

1. 이 논문을 인용한 문헌 없음