On the structure of a two-degree-of-freedomH∞loop shaping controller
作者:
D. J. WALKER,
期刊:
International Journal of Control
(Taylor Available online 1996)
卷期:
Volume 63,
issue 6
页码: 1105-1127
ISSN:0020-7179
年代: 1996
DOI:10.1080/00207179608921885
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
Explicit state-space formulae are presented for a two degree-of-freedom (2-DOF) controller that stabilizes an augmented plant with respect to unstructured additive coprime factor perturbations whilst simultaneously providing robust model following. The 2-DOF problem was known to inherit certain features of the McFarlane-Glover loop shaping design method, from which it is derived. In this paper, the precise structure of one admissible controller is derived. That structure is shown to comprise a state-estimator, an on-line step-response model, and an augmented state estimate feedback law. The formulae derived herein are applied to a classical nonlinear stabilization problem.
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