HDDベンチマーク問題における位相安定化補償器及びゲイン安定化補償器のGKYP設計法

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2017/04/01

タイトル(英語): Generalized KYP Synthesis on the Phase Stabilization and Gain Stabilization Compensators for the HDD Benchmark Problem

著者名: 兼松　正人（東京大学大学院 新領域創成科学研究科），藤本　博志（東京大学大学院 新領域創成科学研究科）

著者名(英語): Masato Kanematsu (Department of Frontier Science, The University of Tokyo), Hiroshi Fujimoto (Department of Frontier Science, The University of Tokyo)

キーワード: HDDベンチマーク問題，GKYP補題，ゲイン安定化補償器，位相安定化補償器　　HDD benchmark problem，generalized KYP lemma，gain stabilization compensator，phase stabilization compensator

要約(英語): Feedback controllers are used to suppress disturbances and modelling error. In particular, position control error depends on feedback control performance. Therefore, extensive research has been devoted to the development of feedback control design. However, mechanical systems have many resonant modes, which disturb system stability and limit feedback control performance. Generally, notch filters are used to suppress resonant modes at the expense of phase delay, which also restricts bandwidth. In this paper, a method for the simultaneous design of a feedback controller and phase stabilization and gain stabilization compensators using the generalized KYP lemma is proposed. The generalized KYP lemma enables feedback control performance to be optimized while considering system stability. First, the structures of the feedback controllers and stabilization compensators are defined. Various control performances are formulated using frequency domain inequalities. Using the generalized KYP lemma, the feedback controller is optimized while considering various types of control performance. The effectiveness of the proposed design method is verified in application examples on the HDD benchmark problem.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.137 No.4 （2017）

本誌掲載ページ: 342-349 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/ieejias/137/4/137_342/_article/-char/ja/