Title :
Design of optimal output feedback compensators in two-time scale systems
Author :
Calise, A.J. ; Prasad, J. V VR ; Siciliano, B.
Author_Institution :
Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fDate :
4/1/1990 12:00:00 AM
Abstract :
A formulation is presented for designing optimal output feedback compensators of fixed order for two-time scale-systems. The formulation uses an observer canonical form to represent the compensators dynamics. It precludes the use of direct feedback of the plant output and achieves spillover suppression. A case study involving the rapid pointing of a flexible robot arm is presented. The results demonstrate the performance and robustness of the controller design
Keywords :
compensation; control system synthesis; feedback; multivariable systems; optimal control; robots; controller design; feedback compensators; flexible robot arm; observer canonical form; robustness; spillover suppression; two-time scale systems; Aerodynamics; Control design; Control theory; Information science; Linear algebra; Optimal control; Output feedback; Regulators; Robots; Robust control;
Journal_Title :
Automatic Control, IEEE Transactions on
