システム制御情報学会論文誌
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
2自由度最適1型サーボ系のタンクシステムへの応用と周波数領域での解析
観測雑音の影響と外乱抑制のトレードオフおよびロバスト安定性に関する考察
長縄 明大平沼 雅裕愛田 一雄大日方 五郎
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ジャーナル フリー

1999 年 12 巻 1 号 p. 1-10

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In this paper, we do an experimental study of two-degree-of-freedom optimal type-1 servo system based on the LQ (linear quadratic) method using a tank system. First, the experiments for the state feedback system which takes into account of a trade-off between low frequency sensitivity and guaranteed stability margin by using an integral gain are carried out. Next, we extend to the output feedback case and carry out the experiments to show the effectiveness of the LTR (loop transfer recovery) method or the integral gain. As the results of these experiments and its analysis in frequency domain, the influence of an observation noise which appears in the control input, the effect of disturbance rejection and robust stability for a plant perturbation are clarified.
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