ＰＩオブザーバを用いたＬＴＲとＤＡＰＲの同時回復

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  • Simultaneous Recovery of LTR and DAPR using Proportional Integral Observer.
  • PI オブザーバ オ モチイタ LTR ト DAPR ノ ドウジ カイフク

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説明

The loop transfer property (LTR) of a full state feedback control system can be recovered by an observer. But the disturbance attenuation property (DAPR), which is characterized by the closed loop transfer function from the disturbance to the controlled output, may not be recovered by the same observer. It is desirable in practical control systems that both properties should be able to be recovered simultaneously.<br>In this paper, we show that the simultaneous recovery is possible by a proportional integral (PI) observer. Two remarkable results are presented: First, a new design method of PI observer is presented by utilizing the relation between PI observer and another observer which is constructed for a new augmented system. Second, the condition for simultaneous recovery by PI observer is given, and a design method of PI observer for simultaneous recovery is derived based on modified LQG/LTR. Finally, an example demonstrates the effectiveness of the proposed design method.

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