제어로봇시스템학회:학술대회논문집
- 1995.10a
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- Pages.56-59
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- 1995
Robust design scheme of VS-MRC to time-varying plant
- Tanaka, Kanya (Dept. of Mechanical Engineering, Ehime Univ.) ;
- Shibata, Satoru (Dept. of Mechanical Engineering, Ehime Univ.) ;
- Shimizu, Akira (Dept. of Mechanical Engineering, Ehime Univ.) ;
- Sakamoto, Masaru (Dept. of Mechanical Engineering, Ehime Univ.) ;
- Uchikado, Shigeru (Faculty of Science and Engineering, Tokyo Denki University)
- Published : 1995.10.01
Abstract
In this paper, we propose a new rubust design scheme of a variable structure type model reference control (VS-MRC) which can be applied to linear time-varing plants. Our idea is started from the hypothesis that the plant consists of two parts, i.e., one has time-invariant parameters and the other has time-varying parameters. We consider the former the nominal part of the plant and the latter a kind of disturbance to the nominal one. In this design scheme, the ordinary VS-MRC is adopted to the nominal part and the signum function is introduced to eliminate the influence of the disturbance.