Two linear quadratic tracking controllers and a minimal prototype controllerare presentedfor the tracking control of a set point model of a discrete SISO controlsystem. Theminimal prototype controller is an unconstrained controller. Depending on theset pointmodel, this controller might be desirable. But usually one would choose one ofthe twolinear quadratic controllers which minimize the sum of squared errors betweenthe outputand the set point variables with a penalty on the input variable. The onedegree offreedom (1-DOF) controller performs well but for nonminimum phase systems thetwoand a half degrees of freedom (2.5-DOF) is a stronger controller as it cansuppress theinverse response of a nonminimum phase system.
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