Abstract
We propose a design of discrete-time type 1 servosystems using output feedback with one-step computation delay. As a basic design, we consider an output feedback design using the state feedback design proposed by Mita and Mukaida and a filtering type Kalman filter. We show that this controller can be simplified by use of a prediction type Kalman filter without sacrificing achievable feedback properties. For the servosystem with the simplified controller, we obtain decomposed expressions for the sensitivity matrices at the input and output of the plant. These expressions contain the sensitivity matrix of the regulator or that of the Kalman filter used in the design and explicitly represent the effect of the integrator and the computation delay in the controller. Using these expressions, we show that the duality holds between the feedback properties at the input and those at the output of the plant. In addition, we discuss the sensitivity properties obtained by the well-known loop transfer recovery techniques. A numerical example is presented to illustrate the performance of the proposed design.
