Design of optimal output feedback compensators in two-time scale systems

Design of optimal output feedback compensators in two-time scale systems

A formulation is presented for designing optimal output feedback compensators of fixed order for two-time scale-systems. The formulation uses an observer canonical form to represent the compensators dynamics. It precludes the use of direct feedback of the plant output and achieves spillover suppress...

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Veröffentlicht in:IEEE transactions on automatic control 1990-04, Vol.35 (4), p.488-492
Hauptverfasser: Calise, A.J., Prasad, J.V.R., Siciliano, B.
Format: Artikel
Sprache:eng
Schlagworte:
Aerodynamics
Control design
Control theory
Information science
Linear algebra
Optimal control
Output feedback
Regulators
Robots
Robust control
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Zusammenfassung:A formulation is presented for designing optimal output feedback compensators of fixed order for two-time scale-systems. The formulation uses an observer canonical form to represent the compensators dynamics. It precludes the use of direct feedback of the plant output and achieves spillover suppression. A case study involving the rapid pointing of a flexible robot arm is presented. The results demonstrate the performance and robustness of the controller design.< >
ISSN:0018-9286
1558-2523
DOI:10.1109/9.52312