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상태 궤환을 이용한 H<sub>∞</sub> 반복 제어 시스템 설계
도태용,Doh, Tae-Yong 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.1
Repetitive control is a specialized control scheme to track and/or attenuate a periodic reference trajectory and/or disturbance. Most researches about repetitive control have been performed in the frequency domain. Recently, several approaches to deal with repetitive control systems in the state space are developed by representing a q filter as a state-space equation. This paper presents a design method of a repetitive control system in the state space to satisfy $H_{\infty}$ performance. The overall system is composed of a plant, a repetitive controller, and a state-feedback controller, which can be converted to a standard form used in $H_{\infty}$ control. A LMI (Linear Matrix Inequality)-based stability condition is derived for fixed state-feedback gains. Under a given q filter, another LMI condition is derived to improve $H_{\infty}$ performance and is employed to find state-feedback gains by solving an optimization problem. Finally, to verify the feasibility of the proposed method, a numerical example is demonstrated.
강인 성능 조건을 만족하는 궤환 시스템을 위한 반복제어기의 설계
도태용,유정래 제어로봇시스템학회 2009 제어로봇시스템학회 국내학술대회 논문집 Vol.2009 No.9
Given a periodic reference signal or disturbance, repetitive control is a special control scheme to reduce a tracking error effectively by the periodic signal generator in the repetitive controller. In general, a repetitive controller is added on the existing feedback control system to improve the tracking performance. however, the repetitive controller has been designed without utilizing the information used in the design of the feedback controller. In this paper, we present a method to design an add-on type repetitive controller using the information on the performance of the existing feedback control system. We first show that a robust stability condition of repetitive control systems is obtained using the well-know robust performance condition of general feedback control system. It is also shown that we can obtain a steady-state tracking error described in a simple form without time-delay element if the robust stability condition is satisfied for the repetitive control system. From the obtained results, several design criterions for repetitive controller are provided.
도태용,문정호 한국지능시스템학회 2003 한국지능시스템학회논문지 Vol.11 No.3
Convergence condition determines performance of iterative learning control (ILC), for example, convergence speed, remaining error, etc. Hence, the performance can be elevated and a feasible set of learning controllers grows if a less conservative condition is obtained. In the frequency domain, the H_infty 반복 학습 제어에서 수렴 조건은 수렴 속도와 잔존 오차와 같은 성능을 결정한다. 따라서, 덜 신중한 수렴 조건을 구할 수 있다면, 그 성능은 향상될 것이고 사용 적합한 학습 제어기의 수는 증가된다. 주파수 영역에서, 연속적인 오차들간의 전달 함수의 H_infty