A Construction of a Multi Input-Output Tracking Controller with One Sampling Delay

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  • 1サンプリング遅れトラッキングコントローラの構成
  • 1 サンプリング オクレ トラッキング コントローラ ノ コウセイ

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Abstract

It is required in servo-system design techniques that not only the steady robustness can be guaranteed and an arbitrary dynamics can be realized, but also a low parameter and disturbance sensitivity can be obtained. On the other hand in robot arm trajectory control, it is required that the arm can follow a target signal accurately and quickly.<br>As a servo controller which can realize these requirments, we propose a new type controller called a multi input-output tracking controller. The characteristics of this controller are (1) the outputs can track perfectly target signals with one sampling delay, (2) the system is steady robust to step disturbances, (3) the sensitivity characteristic can be specified arbitrarily.<br>This cotroller can be constructed for discrete time plants with both stable and unstable zeros. We solved the unstable zero problem by applying the 2-Delay input control technique.

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