HDDベンチマーク問題における位相安定化補償器及びゲイン安定化補償器のGKYP設計法

抄録

Feedback controllers are used to suppress disturbances and modelling error. In particular, position control error depends on feedback control performance. Therefore, extensive research has been devoted to the development of feedback control design. However, mechanical systems have many resonant modes, which disturb system stability and limit feedback control performance. Generally, notch filters are used to suppress resonant modes at the expense of phase delay, which also restricts bandwidth. In this paper, a method for the simultaneous design of a feedback controller and phase stabilization and gain stabilization compensators using the generalized KYP lemma is proposed. The generalized KYP lemma enables feedback control performance to be optimized while considering system stability. First, the structures of the feedback controllers and stabilization compensators are defined. Various control performances are formulated using frequency domain inequalities. Using the generalized KYP lemma, the feedback controller is optimized while considering various types of control performance. The effectiveness of the proposed design method is verified in application examples on the HDD benchmark problem.