内部モデルを含む2自由度最適有限整定制御系の設計

抄録

This paper is concerned with a new design method of two-degree-of-freedom optimal deadbeat controller including internalmodel. In this servosystem, the compensators can perform the desired value tracking characteristics and disturbance rejection characteristics.
It is shown that such a servo system which includes an internalmodel into the local feedback loop can be designed. Two kinds of optimal deadbeat control signals which can minimize the different quadratic performance index, one affect the control signal and deviation, the other affect the control signal and output, can be easily obtained from matrix computations using sampled data of the step response of the system. Then the deadbeat controller can be designed by using the sequence of control signals. A numerical example is given to illustrate the effectiveness of the proposed method.