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Kazuki Senga,Kazuhiro Yubai,Daisuke Yashiro,Junji Hirai 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
In this paper, the stability condition and the robust performance condition are represented as a set of convex constraints with respect to the parameters of a linearly parameterized multivariable controller in the Nyquist diagram for the prespecified frequency points. This method can directly handle frequency-domain uncertainty without any modeling. Frequency-domain uncertainty can be minimized by appropriately selecting a nominal plant at each frequency point in the proposed approach. This paper proposes the design constraints to assure the desired control bandwidth and stability margin such as phase margin and gain margin to satisfy desired control specifications. The effectiveness of the proposed method is verified by comparison with the model-based approach by using μ-synthesis with the D-K iteration algorithm through an experimental result.
Tuning of Controller Parameters by FCbT with Stability Constraints for Non-minimum Phase Plants
Ryota Matsuo,Kazuhiro Yubai,Daisuke Yashiro,Junji Hirai 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
We propose the controller tuning method considering closed-loop stability after tuning without the identified plant model. The methods are formulated as a model reference control problem in which the reference model is chosen by the user. In the case of non-minimum phase systems, the unstable zeros of the plant need to be included in the reference model to avoid unstable pole-zero cancellation. This paper proposes the model-free controller tuning for non-minimum phase plants estimating its unstable zeros by the flexible reference model in the process of parameter updates. The effectiveness of the proposed method is confirmed by simulation examples.
Ken Sakakibara,Kazuhiro Yubai,Daisuke Yashiro,Junji Hirai 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
Generalized Internal Model Control (GIMC) structure resolves the problem of trade-off between nominal control performance and robustness. In GIMC structure, while the nominal controller specifies the nominal performance, the Youla parameter improves robustness for uncertainties and/or disturbance rejection. This paper addresses the design method of Youla parameter on GIMC structure with stability constraint by the typical model-free controller design method, VRFT, to avoid complicated system identification and to design a fixed structural controller. However, the designed Youla parameter guarantees the closed-loop stability only at the specific condition where the input/output data is collected. If the load condition changes, the closed-loop stability is no longer guaranteed in the designed Youla parameter. In order to enhance the robustness for the plant perturbation and/or the plant uncertainties, this paper proposes the design method of Youla parameter in consideration of some deviated plants by VRFT. This method uses multiple input/output data sets collected from multiple deviated plants. The effectiveness of the design method is verified experimentally in a belt-driven two-mass system.
Design of a PID Controller based on H<SUB>∞</SUB> Loop Shaping Method using Frequency Responses
Akihiro Doi,Kazuhiro Yubai,Daisuke Yashiro,Junji Hirai 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
Robust control is used for a system with perturbations of a plant and disturbances. Above all, H∞ loop shaping method is known as a method showing a good control performance. However, this method takes designing cost because it needs a mathematical model of the actual plant. In order to reduce the identification cost, we propose a fixed-order controller design method which only uses frequency responses. The proposed method can derive a controller satisfying the better control performance with non-linear optimization.