離散値入力型制御系における積分器の遮断を用いたサーボ系の構成

抄録

In the present paper, we discuss servo control design for discrete valued input system. In conventional servo systems, tracking errors caused by quantized errors of control input accumulates the errors in the integrator and it lead to applying impulse type control input. The input provides undesirable vibration response. We propose a switching control law based on Lyapunov function in order to prevent undesirable response. The effectiveness of the proposed method is verified by comparing with some conventional methods through experiments.