Design of control systems for multiple specifications and its application to unstable wheeled servo system

摘要

This paper describes the design of control systems for multiple specifications and its application to an unstable wheeled servo system. It is difficult to theoretically obtain a controller to satisfy multiple specifications simultaneously such as the step response over-shoot and the settling time etc., so a numerical convex optimization method given by Boyd [7] can be employed to obtain such controller. Since the coprime factorization form transfer function is used for the evaluated function for optimization, pole assignment of the closed loop system can be considered explicitly and it is easy to design the practicable controller for the motion control. In this paper, we apply this convex optimization method to controller design for an unstable wheeled servo system which has multiple specifications on the suppression of all outputs and the wheel transit response performance. Experimental results demonstrate the effectiveness of this convex optimization method.