1入力多出力線形離散時間系のH_2制御性能限界 H_2 Control Performance Limitations for SIMO Linear Discrete-Time Systems
This paper is concerned with intrinsic control performance limitations achievable by feedback for single-input and multi-output (SIMO) possibley unstable and non-minimum phase linear discrete-time systems. We investigate two typical <I>H</I><SUB>2</SUB> optimal control problems, namely optimal tracking control problem and minmal energy control problem. We derive closed-form analytical expressions of the best achievable tracking error and minmal energy <I>H</I><SUB>2</SUB> norms. The former consists of plant gain as well as unstable poles and non-minimum phase zeros of the plant, while the latter is only given by unstable poles and non-minimum phase zeros of the plant. Those results are confirmed by several numerical examples, and they characterize easiness and difficulty of plants to be controlled.
システム制御情報学会論文誌 19(10), 391-399, 2006-10-15