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Loop shaping and a zero‐placement technique as applied to the benchmark problem
Author(s) -
Schmidt David K.,
Benson Dwayne
Publication year - 1995
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4590050105
Subject(s) - control theory (sociology) , robustness (evolution) , benchmark (surveying) , transfer function , zero (linguistics) , robust control , linear quadratic gaussian control , loop (graph theory) , computer science , control system , mathematics , mathematical optimization , optimal control , engineering , control (management) , artificial intelligence , biochemistry , chemistry , linguistics , philosophy , geodesy , electrical engineering , gene , geography , combinatorics
A classical and a ‘quasi‐modern’ approach are taken to develop robust control laws for the 1992 ACC benchmark problem of Wie and Bernstein. In both approaches, copious use of loop‐shaping à la Bode design is employed. The quasi‐modern approach reported herein is a zero‐placement technique, which is a variant on LQG/LTR. This approach allows for the direct selection of the zeros of the loop transfer function, leading to the desired loop shape. Therefore, undesirable pole‐zero cancellations may be avoided. The modern and quasi‐modern approaches are closely related, and can lead to similar control laws. Though the problem addressed here is SISO, the zero‐placement approach can be used on MIMO systems. However, in the case discussed herein, the classically designed controller has superior performance and stability robustness.