多入出力系に対する出カフィードバックによるモデル出力追従制御とそのロバスト性解析

抄録

This paper deals with the problems of model output following control based on output feedback for the multi-input multi-output systems with additive and/or multiplicative unmodelled dynamics. Existence of an allowable range of unmodelled dynamics, which guarantees the uniform boundedness of all signals in closed-loop with output feedback, is examined for the system of which dominant part satisfies the almost strictly positive real (ASPR) condition. Furthermore, it is verified that the ASPR condition with respect to the dominant part can be relaxed using a precompensator inserted in the feedback path.