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周波数応答を用いたH∞ループ整形法における固定次数制御器設計法のMIMOシステムへの拡張

周波数応答を用いたH∞ループ整形法における固定次数制御器設計法のMIMOシステムへの拡張

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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: 2018/04/01

タイトル(英語): Fully-Parameterized Fixed-Order Controller Design for H∞ Loop Shaping Method Using Frequency Responses -Extension to MIMO Systems-

著者名: 宇佐美 朋大(三重大学),弓場井 一裕(三重大学),矢代 大祐(三重大学),駒田 諭(三重大学)

著者名(英語): Tomohiro Usami (Mie University), Kazuhiro Yubai (Mie University), Daisuke Yashiro (Mie University), Satoshi Komada (Mie University)

キーワード: H∞ループ整形法,周波数応答,多変数制御器,固定次数制御器,LMI最適化  H∞ loop shaping,Frequency response,Multivariable controller,Fixed-order controller,LMI optimization

要約(英語): Robust control is often applied to systems with uncertainties and disturbances. Above all, the H∞ loop shaping method is known to achieve good control performance and robustness. In this method, the final controller consists of weighting functions and a stabilizing controller. The stabilizing controller is derived for the shaped plant to suppress the H∞ norm of the transfer matrix consisting of a sensitivity function, a complementary sensitivity function, etc. In addition, the stabilizing controller improves robust stability margin while keeping gain characteristic of the shaped plant if weighting functions are suitable. As a result, the closed-loop system is well-balanced between good tracking and robustness. However, a final controller tends to be high-order. For this problem, reduction techniques are often applied to the final controller. In this case, performance and stability is not always adequately evaluated due to errors by the controller reduction. This paper proposes a fully-parameterized fixed-order controller design method using frequency responses of the plant. We formulate a design problem for Multi-Input-Multi-Output systems as an optimization problem. Therefore, we can directly design a low-order controller from frequency responses using the iterative LMI optimization. Accordingly, we can avoid to deteriorate the evaluation of performance and stability.

本誌: 電気学会論文誌C(電子・情報・システム部門誌) Vol.138 No.4 (2018) 特集:信号処理と制御の融合に基づく新領域の創出

本誌掲載ページ: 319-328 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/138/4/138_319/_article/-char/ja/

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