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 [in Japanese] Generalized Internal Model Control with Servo Compensation Using a Reduced Order Observer [in Japanese]
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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.
- Transactions of the Society of Instrument and Control Engineers
Transactions of the Society of Instrument and Control Engineers 42(9), 1027-1034, 2006-09-30
The Society of Instrument and Control Engineers