時変係数システムにおける一般化最小分散制御を用いたサーボ系設計

抄録

Output predictions of Generalized Minimum Variance Control (GMVC) are obtained by solving the Diophantine Equation based on the present model parameters. Therefore, exact value of prediction would not be calculated for time-varying system changing model parameter fast.
In this paper, we show output predictor and control law of GMVC on the basis of Generalized Predictive Control (GPC) for time-varying system suggested by O. P. Palsson et al. (1993). And further, we investigate properties of GMVC for time-varying system. In order to avoid consuming the vast energy, in general, the control-weighting of cost function is given as a positive value. But this may cause the offset in the output of the system. Also, the offset may occur because of input disturbance. To eliminate these offsets, in this research, the technique that establishes a compensator based on the internal model principle is proposed, that is the servo system materialized against the reference signal change and load disturbance.