2自由度ロバスト・サーボ補償器のクラス

観測量と制御量が異なる場合

抄録

In this paper, we solve a robust servo problem for the general two-degree-of-freedom control systems whose measured variables are not coincident with the output to be controlled. Firstly, a necessary and sufficient condition for the two-degree-of-freedom compensator to achieve robust servo systems with internal stability is derived. Secondly, an existence condition of such a compensator is derived. Thirdly, the set of all such compensators is clarified, using two independent parameters which determine the system transfer matrix and the feedback properties, respectively.