凸最適化による制御仕様を保証する周波数応答を用いた多変数固定構造制御器設計法

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2017/02/01

タイトル(英語): Multivariable Fixed-Structural Controller Design Method Using Frequency Responses Guaranteeing Control Specifications by Convex Optimization

著者名: 弓場井　一裕（三重大学大学院工学研究科），千賀　一輝（三重大学大学院工学研究科），矢代　大祐（三重大学大学院工学研究科），駒田　諭（三重大学大学院工学研究科）

著者名(英語): Kazuhiro Yubai (Graduate School of Engineering of Mie University), Kazuki Senga (Graduate School of Engineering of Mie University), Daisuke Yashiro (Graduate School of Engineering of Mie University), Satoshi Komada (Graduate School of Engineering of Mie University)

キーワード: 周波数応答，制御帯域，安定余裕，ロバスト制御，凸最適化，MIMOシステム　　Frequency response，Control bandwidth，Stability margin，Robust control，Convex optimization，MIMO system

要約(英語): In this paper, the stability condition and the robust performance condition are represented as a set of convex constraints with respect to the parameters of a linearly parameterized multivariable controller in the Nyquist diagram for the prespecified frequency points. This method can directly handle frequency-domain additive uncertainty without any modeling. Frequency-domain additive uncertainty can be minimized by appropriately selecting a nominal plant at each frequency point in the proposed approach. Moreover, this paper proposes the design constraints to assure the desired control bandwidth, phase margin and gain margin to satisfy desired control specifications. The effectiveness of the proposed method is verified by comparison with the model-based approach by using μ-synthesis with the D-K iteration algorithm and the case of the designed controller without proposed constraints through an experimental result.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.137 No.2 （2017） 大特集：電子・情報・システム部門誌 30周年記念「電子・情報・システム技術によるイノベーション」

本誌掲載ページ: 279-287 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/137/2/137_279/_article/-char/ja/