磁気浮上系の振動抑制を目的とした周波数整形ILQコントローラの設計

抄録

In the preceding paper, experimental results on the control of a magnetic levitation system using the ILQ and the H_∞. control theories were reported. In the ILQ case, a spillover was caused by unmodeled dynamics, where the dimention of the controller was lower than that in the H_∞ case. In this paper, we shape the closed loop frequency response of the ILQ control system to suppress the spillover by introducing additional design freedom of the observer. As a result almost the same closed loop performance as the H_∞ controller can be achieved by this lower dimensional controller.