非最小位相系に対する安定な非干渉化補償器の一設計法

抄録

In this paper, we examine a design method for decoupling control systems for non-minimum phase systems. The decoupled control system is the system that established one to one correspondence between input and output. Since the decoupled control system is considered as several single-input/single output systems, the input-output characteristic of the decoupled control system is reduced to the single input/single-output control problem. Therefore we can specify the input-output characteristics of multiple input/multiple-output systems. However, for non-minimum phase systems, no paper consider a design method for stable decoupling control systems using full state feedback control and dynamic precompensator. In this paper, we propose a design method for decoupling control method for non-minimum phase systems using full state feedback control and dynamic precompensator. In order to design stable decoupling controller, we use the fusion of the method by Falb and Wolovich and dynamic precompensation. A simple numerical example is shown to illustrate the effectiveness of the proposed method.