Title :
Achievable performance and sensitivity integral constraints in preview control
Author :
Middleton, R.H. ; Chen, J. ; Freudenberg, J.S.
Author_Institution :
Dept. of Electr. & Comput. Eng., Newcastle Univ., NSW, Australia
Abstract :
Preview control refers to a tracking control scheme whereby a reference trajectory, and a finite ´preview´ of future values of the reference trajectory are used in the controller. Such controllers have been explored in the context of linear and nonlinear inverse tracking controllers, where particularly for non stably invertible plants, preview of the reference trajectory gives significant performance advantages. Without the presence of preview, it has been known that lack of a stable inverse imposes inherent limitations on the achievable performance of a feedback control loop. In this paper, we explore the extension of these performance limitations to the preview control case. In particular, we consider the infimal achievable H∞ performance, and Poisson sensitivity integral results for the finite preview case
Keywords :
H∞ control; feedback; predictive control; sensitivity; stochastic processes; Poisson sensitivity integral results; feedback; finite preview case; infimal achievable H∞ performance; linear inverse tracking controllers; non stably invertible plants; nonlinear inverse tracking controllers; performance constraints; preview control; reference trajectory; reference trajectory preview; sensitivity integral constraints; tracking control scheme; Control systems; Feedback control; Integral equations; Knowledge engineering; Linear feedback control systems; Performance gain; Poles and zeros; Robustness; Trajectory; Transfer functions;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980288
