Parameter Space Design of Robust Control Systems
نویسنده
چکیده
Find a state or output feedbac:k wlth flxed gains such that nlce stabllity (deflned by a regloo in tbe elgenvalue plane) ls robust wlth respect to !arge plant parameter varladoos, semor failures, and quantlzatJon effects in tbe controller. Keep tbe requlred magnltude of control Inputs smail in thls deslgn. A tool for tacldJ.ng suc:h problems by des1gB in tbe controller parameter space % ls introduced. Pole placement ls formulated as an affine map from tbe space ~ of characteristlc polynomlal coefflclents to tbe % space. 1bls allows detennlnlng tbe regloos in tbe % space.. whfch place all elgenvalues in tbe deslred regloo in tbe elgenvalue plane. 1ben tradeoffs among a variety of different deslgn spedficatlons can be made in % space. 1be use of thls toolls lliustrated by tbe des1gB of a crane control system. Several open research problems result from tl.!h approach: paphlcal computer-alded deslgn of robust systems, algebralc robustness coodldol\9, and algorlthms for lteradve deslgn of robust control systems.
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