電気空気圧サーボ系の最小分散型適応極配置制御

抄録

In pneumatic servo systems, the adaptive pole-placement control is applied to improve the control performance. In many works, pneumatic servo systems are considered as deterministic ones. However, it is the better way to consider the plant as stochastic system in the existent pneumatic servo system, because natural oscillations of the control valves and observation noises exist. In this paper, we propose the design scheme of the minimum variance type adaptive pole-placement control for the pneumatic servo system. In this design scheme, it is based on minimizing the suitable evaluation function from the viewpoint that variance is restrained as possible against the stochastic disturbances of the plant, and control rule is led. The effectiveness of the proposed design scheme is confirmed by experiments using the existent pneumatic servo system.