An Approximate Design Method of Discrete-time 2DOF controller and its Parameter Tuning

Abstract

In this paper, we propose an approximate design method for feedforward element of discrete-time 2DOF controller parameterized by stable rational function. The proposed method is based on the approximate matching of the response sequence in time domain. The relation of the parameter of feedforward element and output sequence is expressed in the form of simple linear equation, through which we can design low order feedforward element. The proposed method also has a feature that the iterative controller parameter tuning algorithm can be derived by applying the iterative solution commonly utilized in numerical calculation. The results of the numerical simulation show the effectiveness of the proposed method.