計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
論文
フィードバック誤差学習制御におけるフィルタ設計と強正実性の達成
今林 亘韓 心又小蔵 正輝杉本 謙二
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2020 年 56 巻 3 号 p. 141-148

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Feedback error learning (FEL) control attains accurate response to a target signal by tuning parameters in the feedforward (FF) controller, provided that feedback (FB) control stabilizes closed-loop in two-degree-of-freedom structure. The authors proposed an FEL tuning law by which the output error converges to zero for any target signals, under a strictly positive real (SPR) condition of the closed-loop. However, this condition is not always satisfied even if the plant is biproper or has a relative degree one. In this paper, we propose to satisfy the SPR condition by designing a filter in the FF controller by solving i) a linear matrix inequality (LMI) for a nominal plant; and ii) a finite set of LMIs for the uncertain plant in a polytope representation. We verify the effectiveness of these methods via a numerical example.

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