Suppression of the Effect of Disturbance Applied to Control Systems : Application to the Design of Stabilized Platform

Abstract

In the contlol systems designed on the basis of exact model matching theory, the output of the plant tracks the reference model output exactly but suffers from the errors due to continual disturbance. The effect of continual disturbance can be suppressed by inserting appropriate precompensator before the plant. The design technique is further extended to the case when the plant parameters are unknown. That is, an adaptive control system in which the effect of continual disturbance is suppressed is constructed. The theory presented here can be applied to the design of a stabilized platform which mounts a TV camera in a moving vehicle. In such case, the effect of disturbance must be suppressed thoroughly.