LQG/LTR 방법을 이용한 강인한 서어보메커니즘의 제어기 설계

A design of controller for robust servomechanism using LQG/LTR method

The LQG/LTR method is applied to the real servomechanism with the unknown modeling error and system noise variance Q$_{2}$. The equivalent discretized LQG controller is implemented on the 16-bit microcomputer and the experimental results show the improved stability and the satisfactory performance when the noise variance Q$_{2}$ is increased infinitly.