제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

On-line tuning of controllers with state observer using a real-time CAD of control systems

  • Koga, Masanobu (Department of Mechanical and Environmental Informatics, Graduate School of Information Science and Engineering, Tokyo Institute of Technology) ;
  • Toriumi, Hiroaki (Department of Mechanical and Environmental Informatics, Graduate School of Information Science and Engineering, Tokyo Institute of Technology) ;
  • Sampei, Mitsuji (Department of Mechanical and Environmental Informatics, Graduate School of Information Science and Engineering, Tokyo Institute of Technology)
  • 발행 : 1996.10.01
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초록

In this paper development of a CAD of control systems is introduced which enables us to do not only analysis of control systems, design of controllers but also real-time implementation of controllers. By utilizing this software, the control engineer is able to repeat the procedure of modification of controllers and experiments without recompile to attain better performance. The software also offers the facility to update the parameters of controllers without stopping real-time control, which helps on-line tuning of controllers. If some parameters of the controller is changed on-line, the control input may change discontinuously. It has serious effect on the control systems. A method for on-line tuning of state feedback controller with state observer is proposed and verified through the experiment with an inverted pendulum.

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