In this paper, we consider a design problem of robust nonlinear servosystems which can achieve asymptotic tracking for constant reference inputs. The problem setting in this paper is a little bit different from the usual one. We suppose that the reference input will change from
r to
r* at time
t = 0 and that the initial state of the system is located in a neighborhood of the equilibrium corresponding to the reference input
r. Under this setting, we consider a design problem of robust nonlinear servosystems : we consider an augment system including the integrator, design a state feedback gain for the augment system using LMI, and give an input r (
t) interpolating r and
r* so that the state moves the prescribed regions depending
r (
t) and consequently the output converges to
r*.
抄録全体を表示