日本航空宇宙学会誌
Online ISSN : 2424-1369
Print ISSN : 0021-4663
ISSN-L : 0021-4663
負の重みを使った最適レギュレータとオートパイロットへの応用
太田 裕文柿沼 真博
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ジャーナル フリー

1988 年 36 巻 419 号 p. 565-571

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An inverse problem of optimal linear quadratic regulators (LQR) is examined for single-input systems, and the selection of the weighting matrices which achieves a specified pole location is discussed in this paper. In particular, the Kessler polynomial is used as a desirable pole location, and the weighting matrices are derived in an analytical form. Although this pole specification results in the use of some negative weights in the performance index, the existence and uniqueness of the solution are guaranteed by Molinari's theorem. At the sacrifice of the circle condition, it is shown that some of deficiencies of the LQR controllers are avoided and several characteristics which classical controllers provide, but which modern methods cannot so far, are retained. An application to roll autopilot systems for missiles is given to illustrate and substantiate the proposed method as well as to make a comparison with the conventional LQR.

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© The Japan Society for Aeronautical and Space Sciences
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