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山田, 功 ; 佐藤, 桂司 ; 奥山, 正
概要:
application/pdf<br />Journal Article<br />In the present paper, we give explicit parametrization of all causal stabilizing repetitive controllers for single-input/single-output continuous time certain class of non-minimum phase
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systems. The parametrization of all causal stabilizing repetitive controllers was first studied by Hara and Yamamoto. Katoh and Funahashi give the parametrization for the class of all stabilizing repetitive controllers for minimum phase biproper plants by solving the Bezout equation explicitly. However, Katoh and Funahashi assumed the plant is asymptotically stable. Using parallel compensation technique, Yamada and Okuyama gave explicit parametrization of all repetitive controllers for minimum phase systems that is not necessarily stable. We expand the result by Yamada and Okuyama and give the parametrization of all causal stabilizing controllers for certain class of non-minimum phase systems. Finally, a numerical example is used to illustrate the effectiveness of the proposed method.
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山田, 功 ; 茂木, 孝之 ; 舩見, 洋祐
概要:
application/pdf<br />Journal Article<br />In the present paper, we examine the Model Feedback Control System. Since the Model Feedback Control System is simple, the ModeI Feedback ControI System has been applied to many applications
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such as the trajectory control of robot manipulator, level control of serially connected tanks and so on. Since the control structure of the ModeI Feedback Control System has constrained, it is likely that the Model Feedback Control System can not represent all of stabilizing controllers for the plant. Nothing has been reported whether or not, the ModeI Feedback Control System can represent all of stabilizing controllers. The purpose of the present paper is to give a solution to the question whether or not, all of stabilizing controllers for the plant are written as the Model Feedback Control structure. Since Model Feedback Control System is applied to many minimum phase systems, in the present paper, we especially clarify the relationship between the ModeI Feedback Control System and the parametrization of all stabilizing controllers for the minimum phase system. First, the relationship between the Model Feedback Control system and the parametrization by Glaria and Goodwin is clarified. Next, for the strictly proper system, the relationship between the Model Feedback Control System and the parametrization by Yamada and Moki is presented. Simple design method of the Model Feedback ControI System to specify control characteristics is shown.
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山田, 功 ; 茂木, 孝之
概要:
application/pdf<br />Journal Article<br />In the present paper, we give the explicit parametrization of all proper internally stabilizing controllers for single-input/single-output continuous time minimum phase systems. This
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parametrization is simple and does not contain improper controllers, that is, this parametrization contains only proper stabilizing controllers. This parametrization is given using supplemental rational function to hold certain condition and asymptotically stable free-parameter. A characteristic of stabilizing controllers for minimum phase systems is clarified.
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山田, 功
概要:
application/pdf<br />Journal Article<br />In the present paper, we consider simultaneous stabilizing problem for multivariable systems. At first we propose a simple state space design procedure of simultaneous stabilizing controller
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using filtered inverse systems for the system having no zero in the closed right half plane. Next the procedure is expanded for the system having some zeroes in the closed right half plane. Freedom of the simultaneous stabilizing controllers are clarified. The proposed methods are built based on state space description, therefore the proposed methods have many advantages such as easy computation and so no.
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