輸送遅れを含む線形系における積分制御機能をもつ最適予見制御

抄録

An optimal preview control incorporating integral control function is studied for a linear system with transport delay, in order to obtain a practical control system which not only can respond to a change in the desired values and disturbances but also can eliminate offset errors in the output variables.
The problem is formulated as that of minimizing a quadratic performance index containing new state variables, intergral of deviation of the output variable from the desired value during the preview period. The problem is solved by the regulator theory.
The developed control system consists of two controllers. One is a feedback controller which posseses proportional control function and integral control function. The proportional control function can improve process stability by using state variables in the transport delay process. The integral control function can eliminate offset errors in output variables. The other is feedforward controller whose manipulating variables are calculated on the basis of the prediction of the desired values and process inputs, This function can contribute to improve the response speed.
Simulation results show that the proposed control system is superior to the conventional preview control system with respect to steady characteristics and is superior to the optimal regulator with respect to dynamic characteristics.