周波数応答を使った同次有限時間整定制御がもつ対外乱減衰性能の解析

抄録

This paper discusses the robustness of the performance of the closed loop system for a homogeneous finite time proportional-derivative control (FT-PD control) of a one-link robot manipulator. We show that FT-PD control's disturbance rejection performance of low frequency is superior to the conventional PD control via the describing functions estimated by an experiment.