線形時不変パラメータ依存プラントに対する既設計の非構造化制御器からオブザーバ構造型制御器への変換

抄録

This paper considers the conversion problem from strictly proper non-structured Linear Time-Invariant (LTI) controllers, which are designed a priori, to strictly proper “observer-structured LTI controllers”, whose structure is similar to but not exactly the same as the so-called “Luenberger observer-based LTI controllers”, for LTI Parameter-Dependent (LTIPD) plant systems. We parametrize the state-space matrices of the observer-structured controllers with those of the non-structured controllers, one free matrix and a state transformation matrix, and propose a method to obtain the optimal state transformation matrix with respect to the convergence of non-zero initial plant state. We also clarify the relation between our method and an existing one for full-order controllers for LTI plant systems.