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題 名 | Quantitative Robust Diagonal Controller Design for MIMO Systems=多輸入多輸出量化強健對角控制器設計 |
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作 者 | 張永華; 張錦川; 陳立偉; | 書刊名 | 中國工程學刊 |
卷 期 | 21:4 1998.07[民87.07] |
頁 次 | 頁425-440 |
分類號 | 448.942 |
關鍵詞 | 量化回授理論; Perron-frobenius理論; Ostrowski's定理; 對角佔優; Quantitative feedback theory; Perron-frobenius theory; Ostrowski's theorem; Diagonally dominant; |
語 文 | 英文(English) |
中文摘要 | 本篇論文係對多輸入多輸出系統,提出一個結合Perron-Frobenius理 論、Ostrowski's 定理及量化回授理論(QFT)之強健對角控制器的一種設計 方法。我們的目標在於設斗一個複雜度較低的控制器;換言之,控制器的交連 關係愈低愈佳。首先,Perron-Frobenius理論將被用來設計一對角化解耦 器,使得一n維的MIMO擾動系統幾乎能轉化成n個SISO子系統。其次,藉 由Ostrowski's定理,我們可以設計一個對角化形式的常數回授矩陣,進而使 得回授系統更具有對角佔優的特性。接著SISO QFT方法將分別用來對任一單 迴路做強健控制器設計。綜合前述的設計步驟,所設計之強健對角控制器確實 能達到所需的強健性及追蹤性能的要求。本文列舉了兩個例子,用以說明所需 的性能要求均可以達到,同時驗證了所提設計方法之可行性。 |
英文摘要 | In this paper we present a robust decoupled controller design method for MIMO systems by combining Perron-Frobenius (PF) theory, Ostrowski's theorem and quantitative feedback theory (QFT). Our aim is to find a required orbust controller, with less complexity , namely to keep the number of `cross-couplings' of the controller as low as possible. To this end, the PF theory is first adopted to almost decouple the n-dimensional perturbed MIMO inverse system into n SISO inverse subsystems, where the synthesized decoupler has a diagonal form. Moreover, Ostrowski's theorem allows us to design a constant feedback gain matrix with diagonal form such that the compensated inverse plant is of more diagonal dominance. The SISOQFT technique is then utilized to design a robust diagonal controller for each single loop of compensated plant. Ultimately, the required robust stability and tracking performance can indeed be achieved by the designed robust decoupled controller. Two numberical examples are given to illustrate that not only are all the required performances achieved, but also that the combined technique for designing a robust decoupled controller for a perturbed MIMO system is actually workable. |
本系統中英文摘要資訊取自各篇刊載內容。