美多のディジタル最適サーボ系の周波数特性

抄録

Frequency-domain properties of Mita's digital optimal servosystem extended to general input delay case are investigated. It has been pointed out that the closed loop transfer function matrix of this optimal servosystem contains explicitly that of the optimal regulator used in the derivation. In addition to this interesting property, this paper shows that the guaranteed stability margins and the disturbance rejection property of the optimal servosystem have explicit relations to those of the optimal regulator. The influence of the choice of the cost function and that of the input delays on these properties are clarified by use of the well-known asymptotic properties of the optimal regulator. These results provide useful guide in the design of the digital optimal servosystem.