Integrated system design by separation

Author

Iwasaki, Tetsuya

Author_Institution

Dept. of Control Eng., Tokyo Inst. of Technol., Japan

Volume

1

fYear

1999

fDate

1999

Firstpage

97

Abstract

This paper shows, by a numerical example, that there is a certain separation property in the design of mechanical control systems. In particular, we point out that the control bandwidth of a servo-tracking system, achievable by a dynamic output feedback controller with reasonable amount of control effort, is closely related to the frequency range where the open-loop transfer function exhibits positive-realness. A finite frequency positive real property is characterized in terms of linear matrix inequalities. Finally, a systematic procedure for designing a mechanical system having such property is proposed, utilizing powerful convex programming techniques

Keywords

closed loop systems; control system synthesis; convex programming; feedback; flexible structures; matrix algebra; servomechanisms; tracking; control bandwidth; convex programming; finite frequency positive real; flexible structure; integrated system design; linear matrix inequality; mechanical control systems; output feedback; servomechanism; tracking system; transfer function; Bandwidth; Control design; Control systems; Frequency; Linear matrix inequalities; Mechanical factors; Mechanical systems; Open loop systems; Optimal control; Transfer functions;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on

Conference_Location

Kohala Coast, HI

Print_ISBN

0-7803-5446-X

Type

conf

DOI

10.1109/CCA.1999.806150

Filename

806150