Abstract
This paper deals with a systematic and quantitative design method of a parallel feedforward compensator (PFC) for MIMO plants which virtually realizes an almost strictly positive real (ASPR) augmented plant. At present, development of design methods of such PFCs is requested from various control techniques based on output feedback control schemes including the simple adaptive control and so on. The design procedure of the proposed PFC is quite simple and easy for installation because the ASPR-ness of the augmented plant is confirmed by adjusting the coefficients of Hurwitz polynomials and one small positive parameter δ in the PFC. The effectiveness of the proposed method is confirmed by applying it to a 2-input/output unstable plant.
