著者

舟橋 康行 加藤 久雄

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.27, no.6, pp.640-646, 1991

被引用文献数

1

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In this paper, a design method for the deadbeat compensator with optimal robustness for MIMO systems is presented. As the compensator is decided among the class of two-degree-of-freedom robust tracking compensators, it is guaranteed that the deadbeat control and internal stability of the whole system is achieved for nominal process. Zero offset is also achieved for the perturbed process which does not disturb internal stability.<br>Using the Hermite form, the design procedure of this paper is much simpler than the one, proposed in the past, that uses the Smith-McMillan form.<br>And robustness criterion, which is <i>L</i>₂-norm of sensitivity function, is optimized. So it is hoped that the stability region for process perturbation is enlarged and that the influence of process perturbation on the output gets smaller. The minimization of deadbeat steps and the optimization of robustness are achieved simultaneously. It is a merit of two-degree-of-freedom compensation scheme.