LQ-servo PI Controller Design Using Convex Optimization

볼록형 최적화기법을 이용한 LQ-서보형 PI제어기 설계

The previous LQ-servo PI design methods have some serious design problems happened from the frequency matching of the maximum and minimum singular values of loop transfer function at both low and high frequency regions on the Bode plot. To solve these problems, this paper proposes a new design technique based on the inverse-optimal control and convex optimization.