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Analysis and Control of Linear Systems - Chapter 11

Chapter 11 Robust Single-Variable Control through Pole Placement 11.1. Giới thiệu một phần có nguồn gốc từ sự kiểm soát thích nghi, RST kiểm soát xuất hiện trong cuốn sách khoảng những năm 1980 [AST 90, FARG 86, LAN 93]. Thật kỳ lạ, phương pháp này là hệ thống mô tả cho việc kiểm soát số, có lẽ bởi vì nguồn gốc của nó đã đề cập ở trên và trong KUC 79]. Trong thực tế, cách tiếp cận đa thức là sửa chữa truyền thống với hai bậc tự do, một sự kết hợp giữa những phản hồi và feedforward để. | Chapter 11 Robust Single-Variable Control through Pole Placement 11.1. Introduction Partially originating from the adaptive control RST control appeared in books around 1980 AST 90 FARG 86 LAN 93 . Curiously this approach was systematically described for the numerical control perhaps because of its origins mentioned above and in KUC 79 . In fact this polynomial approach is the traditional correction with two degrees of freedom a combination between feedback and feedforward on the setting. The primary goal of this chapter is to replace this order in a general context and to show all the degrees of freedom available to the designer. Then a very simple even intuitive methodology is proposed in order to use these degrees of freedom to achieve a certain robustness of the structure created. 11.1.1. Guiding principles and notations Figure 11.1 shows the block diagram of the RST control. Block diagram because transfers R S and T are polynomials and are thus not proper. Chapter written by Gérard THOMAS. 328 Analysis and Control of Linear Systems Figure 11.1. Block diagram of RST control In all that follows unless otherwise indicated the systems studied will be discrete or continuous i.e. will be respectively described by transfers of the z or .S variable. For reasons of simplicity and coherence the examples will be treated in the continuous case. As for any correction structure the designer will have to determine the correction parameters here polynomials R S and T to ensure - internal stability DOY 92 - the asymptotic follow-up of a certain class of settings - the asymptotic rejection of a certain class of interferences - a satisfactory transient state. However respecting these specifications is not sufficient to ensure a satisfying operation of the installation it will be necessary to take into account - the saturations of the process - the level of measurement noise - modeling errors. The non-compliance with these simple rules has had negative impacts on automatic .