定常偏差の改善を目的とした強安定一般化予測制御系の拡張

抄録

This paper presents how to make steady-state error zero on designing strongly stable Generalized Predictive Control (GPC). Recently, the design method based on placing poles of the controller was proposed on strongly stable GPC, and it enabled to stabilize both the closed loop system and the controller. However, there is a problem that the steady-state error remains after the feedback loop is accidentally cut. In this paper, a conditional equation for controlled output to follow the reference value is derived. It determines the design parameters of strongly stable GPC using Computer Algebra System. Not only when feedback is cut, but also when output feedback is a fixed value, that is, output sensor is in a sticked error, it is derived that the output steady error is zero by using the obtained conditions. Controlling simulation is performed and it is confirmed that no steady-state error remains. As the result, this method makes steady-state error zero and enhances the safety on strongly stable GPC.