Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Analysis and Synthesis of Model Reference ILQ Servo System with Tracking Robustness
Sadaaki KUNIMATSUMasakazu FUJIITakao FUJII
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2004 Volume 17 Issue 3 Pages 131-138

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Abstract

In this paper, we propose a design method for servo systems with tracking robustness. Here we consider the control configuration of robust servo system plus a reference model, in which the robust servo system is designed by the ILQ design method as proposed by the third author. First, we show the configuration of this servo system and then provide a theoretical basis for parameter tuning. Second, we clarify the relation between these parameters and the closed loop performance such as robust stability and tracking robustness. Finally we establish a new design method of ILQ servo system with tracking robustness, and show its effectiveness by a numerical example.

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