既約分解表現とLMI最適化に基づいた複数制御対象に対する制御器の同時設計

抄録

In this paper, we propose a simultaneous design of a controller for multiple plants. First, we present a design of a reduced-order controller for a single plant. The design is based on the H_∞ loop shaping method and the LMI optimization method. The robust stability problem used in the H_∞ loop shaping method can be modified to a one block problem with a right inverse graph K of the controller and a parameter Q. Then controllers with fixed structure can be obtained by using LMI optimization. Second, we show that this design can be extended to a simultaneous design for multiple plants. This is possible because the controller structure is embedded in each problem in the same way and it is common for all LMI's (multiple LMI's can be regarded as a single large LMI). Thus, in our design, we can design a controller for multiple plants simultaneously where each plant is handled equally. Last, we demonstrate a design example of control for a flexible beam.