A Method to Decide Weighting Matrix for Optimal Servo System Design

Abstract

Recently, the theoretical and experimental researches on the design method of optimal servo system have been done. However, the weighting matrix of cost function is decided on desired value by trial-and-error. Therefore, it seems that a systematic method to decide weighting matrix is necessary. In this paper, one method which gives the constraint in upper bound of the tracking error and decides the weighting matrix satisfying the constraint is proposed. Though the algorithm for decision has been used for regulator problem until now, in this paper, we use it in servo problem.