LMIを用いた非線形積分型ロバストサーボ系の設計 Design of Nonlinear Robust Servosystems by Using LMIs
In this paper, we consider a design problem of robust nonlinear servosystems which can achieve asymptotic tracking for constant reference inputs. The problem setting in this paper is a little bit different from the usual one. We suppose that the reference input will change from <I>r</I> to <I>r</I><SUP>*</SUP> at time <I>t</I> = 0 and that the initial state of the system is located in a neighborhood of the equilibrium corresponding to the reference input <I>r</I>. Under this setting, we consider a design problem of robust nonlinear servosystems : we consider an augment system including the integrator, design a state feedback gain for the augment system using LMI, and give an input r (<I>t</I>) interpolating r and <I>r</I><SUP>*</SUP> so that the state moves the prescribed regions depending <I>r</I> (<I>t</I>) and consequently the output converges to <I>r</I><SUP>*</SUP>.
システム制御情報学会論文誌 12(11), 671-679, 1999-11-15