Analysis and Synthesis of Model Reference ILQ Servo System with Tracking Robustness

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  • 過渡応答のロバスト性を考慮したモデル規範型ＩＬＱサーボ系の解析と設計
  • カト オウトウ ノ ロバストセイ オ コウリョ シタ モデル キハンガタ ILQ サーボケイ ノ カイセキ ト セッケイ

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Abstract

In this paper, we propose a design method for servo systems with tracking robustness. Here we consider the control configuration of robust servo system plus a reference model, in which the robust servo system is designed by the ILQ design method as proposed by the third author. First, we show the configuration of this servo system and then provide a theoretical basis for parameter tuning. Second, we clarify the relation between these parameters and the closed loop performance such as robust stability and tracking robustness. Finally we establish a new design method of ILQ servo system with tracking robustness, and show its effectiveness by a numerical example.

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