ループ整形機能を有するILQロバストサーボ系の解析的設計法

抄録

ILQ optimal servo design method is known as a practical design method as derived from the viewpoint of Inverse Regulator Problem. Unlike the usual optimal servo system, this method enables us to specify directly a desired closed loop transfer function from reference input to output in a certain class. In this paper, we propose a design method for loop-shaping by utilizing an additional design freedom of an observer. The method enables us to specify not only the tracking property mentioned above, but also the noise suppression property, or a closed loop transfer function from noise to output. We then clarify the class of transfer functions from noise to output that can be specified by the method. Finally we provide a numerical example to illustrate the proposed method.