NDLI: Design of ripple-free multivariable robust servomechanisms

Content Provider	IEEE Xplore Digital Library
Author	Franklin, G.F. Emami-Naeini, A.
Copyright Year	1984
Description	Author affiliation: Systems Control Technology, Inc., Palo Alto, CA (Emami-Naeini, A.) \|\| Stanford University, Stanford, CA (Franklin, G.F.)
Abstract	The design of multivariable control systems to provide zero steady-state error in the presence of non-decaying reference and disturbance signals and in spite of perturbations to system parameters is referred to as the robust servomechanism problem. The application of standard robust servomechanism theory to sampled data systems can guarantee asymptotic tracking at sampling instants only. Between sampling instants, the output will normally contain a component referred to as ripple. In this paper, the robust servomechanism theory is extended to sampled-data systems and a technique is proposed for ripple-free tracking of nondecaying inputs including sinusoids and polynomials. It is shown that a continuous internal model is necessary and sufficient, to provide ripple-free response. All the poles of the system can be assigned to the origin to yield a continuous ripple-free deadbeat response. The integrators of the hold devices are used as part of the continuous internal model for constant inputs. An example is provided to illustrate the design technique.
Starting Page	1709
Ending Page	1714
File Size	364302
Page Count	6
File Format	PDF
DOI	10.1109/CDC.1984.272423
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1984-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Servomechanisms Sampling methods Signal design Control systems Steady-state Error correction Robust control Sampled data systems Polynomials
Content Type	Text
Resource Type	Article

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