Abstract
Tagawa has proposed a new type controller which is called the utmost compensation type controller. The parameter design method of this controller has been already proposed by Tagawa et. al. But, the method has the following three weak points, i.e. (1) as the error system results unobservable, adequate evaluation of the error is difficult, (2) as the error system has zeros at the origin and the initial values of the uncontrollable states are not zero, the small amplitude of the error cannot be attained, (3) for the reference input and disturbence which are functions of time, the zeros cannot be placed equal to optimal values.
In this paper, the author propose a new parameter design method by which the above weak points are overcome. The basic idea of this new method is that, firstly. modify Bhattacharyya's et. al. method and derive a new type optimal servo system, next, derive the utmost compensation type controller by transforming the new servo system equally. Here, first of all, it is clarified that Bhattacharyya's et. al. method can be extended to such cases that the unknown parameters by which the zeros are placed are included in the error system. As a result, it is shown that the new type optimal servo system is derived and both the poles and zeros of the system can be placed so as to minimize the same quadratic performance index. Next, it is shown that the utmost compensation type controller is derived by transforming linearly this new servo system into the (p+1) type and output feedback system. The linear trasformation matrix is also shown. Finally, numerical examples are shown and the effectiveness of the proposed method is certained by compariug this method with Tagawa's et. al. one.
