PID制御による漸近安定化制御

—最小位相性と高ゲインフィードバックに基づく安定性解析—

抄録

This paper is concerned with regulator problem for SISO system using a PID controller. The controlled object is SISO system which is controllable and observable. Our purpose is to analyze stability of PID control system and to determine PID parameters so that the closed system is asymptotically stable. The main idea is based on the minimum phase property and Lyapunov's stability theorem. Quasi pole placement method is applied to stabilize asymptotically zero dynamics whose poles depend on PID parameters. The effectiveness of the proposed method is confirmed by simulation results for various plants.