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Servo controller design based on frequency‐dependent error
Author(s) -
Furuta Katsuhisa,
Suenaga Osamu
Publication year - 1989
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.4660100211
Subject(s) - control theory (sociology) , controller (irrigation) , quadratic equation , servo , mathematics , servomechanism , tracking error , bilinear transform , transformation (genetics) , signal (programming language) , function (biology) , bilinear interpolation , computer science , control (management) , engineering , control engineering , filter (signal processing) , digital filter , statistics , geometry , artificial intelligence , evolutionary biology , gene , agronomy , biology , programming language , computer vision , biochemistry , chemistry
Variables to be controlled are usually taken from measured outputs. They may be filtered and the regulation of frequency‐dependent error has been considered in the design of robust controllers. Anderson considered the frequency‐dependent linear‐quadratic (LQ) problem. The frequency‐dependent weight he considered is restricted to the phase lag and lead type. This paper considers not only regulation of general frequency‐dependent errors but also a servo controller tracking to a given reference signal in the presence of disturbances. The control law is determined either on the basis of the quadratic criterion function or by pole assignment in a region. The control law to assign poles in a region is derived from one designed for the corresponding discrete‐time system obtained by bilinear transformation.