周波数依存偏差に基づくサーボ・コントローラの設計

抄録

Recently, the linear quadratic optimization problem whitch is considered the frequency dependent weight of phase lead or lag characteristics in the criterion function has been studied. The motivation for introducing the frequency dependent weight is the possibility of enhancing the robustness of the control system in critical frequency bands. In practical problems, however, the control system design minimizing the quadratic criterion function considered the frequency dependent weight of more general frequency characteristics, and the tracking to the reference signal in the presence of disturbance should be considered.
This paper considers to design a servo controller for the regulation of the frequency dependent error in the presence of disturbance. The limit of a way of choosing the frequency dependent weight considered is shown. The servo controller is designed by using the augumented system incorporating the derivations of the regulated frequency dependent error. The control law is determined by minimizing the quadratic criterion function consisted of the frequency dependent error and control input whitch is added another frequency dependent weight restricted to disturbance and reference signal.
The proposed algorithms of the servo controller give satisfactory results in simulations.