2自由度最適積分型サーボ系におけるH<sub>∞</sub>制御の利用と空気圧シリンダの位置決め制御

Translated title of the contribution: H∞-Based Two-Degree-of-Freedom Optimal Servo Systems with Integral Compensation and Their Application to Positioning Control of Pneumatic Cylinders

和田 康宏, 蒲地 誠, 蛯原 義雄, 萩原 朋道

Research output: Contribution to journalArticle

Abstract

A two-degree-of-freedom design method of LQI servo systems has been proposed based on optimal control theory. The feature of this method is that tracking characteristics are determined optimally with respect to a quadratic-integral performance index while the integral compensator (i.e., the integral gain) can be designed independently without affecting tracking characteristics. This paper considers to apply the H∞ techniques to the design of the integral compensator. We apply such a design scheme to positioning control of a pneumatic servo system and show its effectiveness through experiments.
Translated title of the contributionH∞-Based Two-Degree-of-Freedom Optimal Servo Systems with Integral Compensation and Their Application to Positioning Control of Pneumatic Cylinders
Original languageUndefined/Unknown
Pages (from-to)2004-2004
Number of pages1
Journalシステム制御情報学会 研究発表講演会講演論文集
Volume3
Issue number0
DOIs
Publication statusPublished - 2003

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