多入出力2-Delayディジタル制御の提案と応用

不安定零点問題の回避

抄録

In the design of digital controller, the existence of unsatble zeros (for example, unstable limiting zeros) makes it difficult to construct many control systems, such as inverse systems, robust controller, model matching system and model following adaptive controller. This paper proposes a new control methods in which two outputs are used which are the output at the frame sampling point and auxiliary output at the time leading to the frame sampling point by mT(0<m<1), where T is frame sampling period. If such a system description is used, the resulting system is proved to have no invariant zeros, that is, the two set of outputs have no common invariant zeros. When such a system description is used, it is easy to construct stable inverse even though the continuous time plant is non-minimum phase, and unknown input observer is constructed.
The dual description of this system is used to assign invariant zeros and used to design model matching system. Such control strategy is completely new but simple, so many applications are expected.