低次元オブザーバを利用したサーボ特性をもつ一般化内部モデル制御の構成法 Generalized Internal Model Control with Servo Compensation Using a Reduced Order Observer
In this paper, we propose a control method that overcomes for the drawbacks of Internal Model Control (IMC). The drawbacks of IMC are: (1) the control object should be stable, (2) the internal states of the control object is known, and (3) the controller's degree increases, though IMC dose have a disturbance decoupling property and a disturbance estimation property. Then, we propose a new Generalized IMC (GIMC) by using the limiting properties of LQ control with servo compensation. The proposed method is based on a two-degrees-of-freedom servo system using a reduced order observer based stabilizing controller. This control method combines these control schemes, has the same properties as IMC, and has improved the tracking performance through the multiplicative effect.
計測自動制御学会論文集 42(9), 1027-1034, 2006-09-30
The Society of Instrument and Control Engineers