多入力多出力フィードバック制御系の定常特性

抄録

Knowledge of the type of feedback system that will follow a desired input with zero steady state error is useful for designers. In this paper any m-input m-output feedback system (r-input m-output transfer element) is shown to be classified as a type [l₁, ……, l_m] system, depending on the controllability characteristics of the error system in servo problems. The definition of the type-[l₁, ……, l_m] system, of course, includes one for the 1-input 1-output system, and this definition is widely known in classical servo-theory. The type of system can be decided by using the criterion matrix M which is defined by an expansion of the open loop transfer function matrix of the system. Knowledge of the type of the transfer element enables us to design a type-[l₁, ……, l_m] output feedback system having a dynamic compensator of lower order than was necessary in earlier design technique.