NDLI: Asymmetric order doubling: a pole placement method for nonminimum phase systems

Content Provider	IEEE Xplore Digital Library
Author	Ravuri, M. Asada, H.
Copyright Year	1998
Description	Author affiliation: d'Arbeloff Lab. for Inf. Syst. & Technol., MIT, Cambridge, MA, USA (Ravuri, M.)
Abstract	A new pole placement method is developed by modifying the symmetric root locus method associated with a class of linear quadratic regulators (LQR). The method places the same number of additional poles and zeros as the original plant, and the root locus is drawn for the order-doubled system to obtain the closed loop poles. It allows us to place additional poles and zeros at asymmetric locations with respect to the imaginary axis. It is shown that a physically meaningful state feedback gain exists for an arbitrary root locus parameter as long as all the branches of the root locus are separated into left and right half planes. The design procedure to obtain a stable state feedback controller from the left half plane portion of the asymmetric root locus is developed. This method generalizes the LQR method and is, in particular, suitable for nonminimum phase systems when the symmetric choice of poles and zeros do not necessarily satisfy all the design criteria. The algorithm is implemented on a 3D-coordinate measuring machine (CMM) which exhibits a nonminimum phase behavior. A significant improvement over the traditional LQR method is obtained in terms of speed of response and settling time while maintaining many of the robustness and performance features of LQR.
Starting Page	1152
Ending Page	1158
File Size	692884
Page Count	7
File Format	PDF
ISBN	0780345304
ISSN	07431619
DOI	10.1109/ACC.1998.703593
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-06-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	State feedback Poles and zeros Mirrors Phase measurement Control systems Optimal control Laboratories Information systems Regulators Coordinate measuring machines
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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