摘要:

This paper proposes a robust model following (RMF) system which realizes good properties such as asymptotic stability, disturbance rejection and model following with reduced sensitivity for plant parameter variation. For a given plant, the RMF system is constructed as a double perfect model following system which uses two models, one used to give a good response to be followed and the other to provide the robustness as well as to reduce the sensitivity. It is shown that RMF system can be generally designed for the plant whose output has the same dimension as the input. It is also shown that when some conditions about the forms of the system and parameter variations are satisfied, the plant output which has the larger dimension than the input can be made robust. Furthermore, the robustness for variations of parameters other than the plant is discussed. A design procedure for the RMF system is given. As an example, the flight control system of a helicopter is designed and its characteristics are examined by simulation which confirms the robustness and remark able sensitivity reduction.

ISSN:0020-7179    

DOI:10.1080/00207178208932944

出版商:Taylor & Francis Group    

年代:1982

数据来源: Taylor

摘要:

This paper presents a new method for designing a model reference adaptive control system for multivariable plants with time delays in the input and output variables. An adaptive algorithm guarantees the asymptotic stability of the error between the plant output and the reference sequence using no anticipative value of the plant output and unknown plant parameter. The validity of the theoretical result is illustrated by a numerical example.

ISSN:0020-7179    

DOI:10.1080/00207178208932945

出版商:Taylor & Francis Group    

年代:1982

数据来源: Taylor

摘要:

The purpose of the present paper is to study the robustness of the optimality of an optimal control for a linear single-input system with respect to a quadratic cost. The robust optimality of an optimal control is defined as its invariant optimality in the usual sense of minimizing some quadratic cost under the presence of small plant parameter variations. A necessary and sufficient condition for robust optimality of a given optimal control is derived first. Based on this result, secondly, a choice of the weighting matrix is proposed such that the resulting optimal control is robustly optimal. The former condition expressed in terms of a given optimal control law can also be expressed as some constraints on the Nyquist plot of the loop transfer function for the optimal regulator. Similarly, the latter condition on the choice of weighting matrices that yield robustly optimal controls is also expressed as some constraints on the transfer function from the input to the controlled variables associated with the weighting matrix to be chosen.

ISSN:0020-7179    

DOI:10.1080/00207178208932946

出版商:Taylor & Francis Group    

年代:1982

数据来源: Taylor

摘要:

In this paper we study the properties of the zeros of a system with general delays in the input, state and control variables. The main result of this paper shows that the zeros of the transfer function are always zeros of the system matrix, with of at least the same multiplicity moreover, when the system is canonical, the zeros of the system matrix are zeros of the transfer function, with the same multiplicity.

ISSN:0020-7179    

DOI:10.1080/00207178208932947

出版商:Taylor & Francis Group    

年代:1982

数据来源: Taylor

摘要:

This paper presents a synthesis technique for linear time invariant n×n multiple-input-multiple-output (MIMO) feedback systems with constrained ‘ plant’ P, and output feedback. Due to uncertainty, P is known only to be a member of a set &𝒫 = {P}. It is required for all Pϵp, the n2system transfer functions tuvbe members of specified sets of acceptable outputsauv;; u. v+ 1, ⃛ n. The problem is rigorously converted into a number of single-input-single output (SISO) uncertainty problems, whose solutions are guaranteed to solve the original MIMO problem. The technique has several advantages over previous ones : (1) fixed point theory is not needed to rigorously justify the theory—the justification is very simple ; (2) there is significantly less overdesign inherent in the method ; and (3) if arbitrary small sensitivity is desired over arbitrary large bandwidth, then the setpmust satisfy certain constraints as 8→∞. It is shown that these constraints are inherent in all linear time invariant compensation techniques. In the old techniques, these con straints were always present, even in non-arbitrarily small sensitivity specifications.

ISSN:0020-7179    

DOI:10.1080/00207178208932948

出版商:Taylor & Francis Group    

年代:1982

数据来源: Taylor

摘要:

There is given a linear time invariant multiple-input-multiple-output (MIMO) plant P with internal variables Xiand outputs yiavailable for feedback. Due to uncertainty, P is known only to be in a setp. There are given tolerances on the overall system response functions tuv(system output yuin response to command input ru) to be satisfied ∀Pϵp. It is shown how this MIMO uncertainty problem, may be replaced by a number of single-input-single-output (SISO) multiple loop uncertainty problems. A suitable fixed point theorem guarantees that the solution of the SISO problems solves the original MIMO problem. Plant elements which appear singly in the MIMO structure, also appear singly in the SISO structures. A design example demonstrates how inner loop feedback may enormously decrease the effect of sensor noise at the MIMO plant inputs. Extensions to disturbance attenuation under uncertainty and to uncertain time-varying and non-linear MIMO plants, are discussed.

ISSN:0020-7179    

DOI:10.1080/00207178208932949

出版商:Taylor & Francis Group    

年代:1982

数据来源: Taylor

摘要:

The bezoutian matrixBof two polynomials is expressed in the formB = ATDAwhere the matrixAis triangular andDis diagonal with elements defined by the Routh array of the original polynomials. Also, the inverse relationship as well as applications to Schur-Cohn and Hermite criterion are discussed.

ISSN:0020-7179    

DOI:10.1080/00207178208932950

出版商:Taylor & Francis Group    

年代:1982

数据来源: Taylor

摘要:

The information efficiency of a zero-memory analogue to digital converter operating in the feedback path of a control system is considered and discussed from the point of view of known results in communication theory. Predictive quantization, where only the innovations remaining after subtraction of the predicted plant output are quantized, is recommended for reduction of the quantization noise effect when A/D converters of restricted wordlength are used.An example is given.

ISSN:0020-7179    

DOI:10.1080/00207178208932951

出版商:Taylor & Francis Group    

年代:1982

数据来源: Taylor

摘要:

Three aspects of the avoidance control problem are considered : (i) avoidance from a particular initial state ; (ii) global avoidance ; and (iii) avoidance from all initial states belonging to a subset of the state space. Necessary and sufficient conditions for the existence of an avoidance control are presented for situations (i) to (iii) above. The criteria are in terms of a finite-dimensional optimization problem and are suit able for numerical computation.

ISSN:0020-7179    

DOI:10.1080/00207178208932952

出版商:Taylor & Francis Group    

年代:1982

数据来源: Taylor

摘要:

This paper considers the adaptive control of a class of single-input linear stochastic systems where unknown parameters in the gain vector are gaussian random variables while other unknown parameters are discrete ones. The optimal state and parameter estimator using the parallel operation of the Kalman filters are constructed and the algorithm of the suhoptimal control based on the well-known open-loop feedback optimal (OLFO) method is derived. Since the OLFO control requires extensive on-line computation, a simple suboptimal control which makes full use of the parallel structure of the estimator is proposed. The performance level and the qualitative properties of both suboptimal controls are studied by using the Monte Carlo simulation.

ISSN:0020-7179    

DOI:10.1080/00207178208932953

出版商:Taylor & Francis Group    

年代:1982

数据来源: Taylor