周波数応答を用いた固定次数Youlaパラメータの設計法

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  • Frequency-Responses-Based Design of Fixed-Order Youla Parameter
  • シュウハスウ オウトウ オ モチイタ コテイ ジスウ Youla パラメータ ノ セッケイホウ

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<p>Generally, there are unmodelled dynamics and uncertainty between an actual plant and its mathematical model. which causes performance degradation or destabilization of the control system at worst. This paper focuses on mini-mization of performance degradation between the nominal performance and the actual performance by appropriately designing a Youla parameter in the presence of unmodelled dynamics and uncertainty of the plant. By introducing the Youla parameter and the dual Youla parameter, control performance is analyzed using coprime factorizations of the plant and the controller, and then a design method of a fully-parameterized fixed-order Youla parameter based on frequency responses of the plant is formulated for Single-Input-Single-Output systems as a convex optimization problem. The one of merits of the proposed method is to directly design a low-order Youla parameter from frequency responses without any controller reduction techniques. The effectiveness of the proposed method is confirmed by some experiments.</p>

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