Generalized Internal Model Control with Servo Compensation Using a Reduced Order Observer
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- TANI Masashi
- Kanazawa Institute of Technology
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- SUZUKI Ryoichi
- 金沢工業大学工学部
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- YAMASHITA Daisuke
- Hitachi, Ltd.
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- KOBAYASHI Nobuaki
- 金沢工業大学工学部
Bibliographic Information
- Other Title
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- 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
- テイジゲン オブザーバ オ リヨウ シタ サーボ トクセイ オ モツ イッパンカ ナイブ モデル セイギョ ノ コウセイホウ
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Abstract
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.
Journal
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- Transactions of the Society of Instrument and Control Engineers
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Transactions of the Society of Instrument and Control Engineers 42 (9), 1027-1034, 2006
The Society of Instrument and Control Engineers
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Details
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- CRID
- 1390282679479153024
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- NII Article ID
- 10018250545
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- NII Book ID
- AN00072392
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- ISSN
- 18838189
- 04534654
- http://id.crossref.org/issn/04534654
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- NDL BIB ID
- 8518710
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed