[ $H_2$ ]Design for Decoupling Controllers Based on the Two-Degree-of-Freedom Standard Model Using LMI Methods

LMI 기법을 이용한 2자유도 표준모델에 대한 비결합 제어기의 $H_2$ 설계

  • Lee, Jong-Sung (School of Electrical and Computer Engineering, Sungkyunkwan University) ;
  • Kang, Ki-Won (Midaskorea Co., Ltd.) ;
  • Park, Ki-Heon (School of Electrical and Computer Engineering, Sungkyunkwan University)
  • 이종성 (성균관대학교 전기.전자 및 컴퓨터공학부) ;
  • 강기원 ((주) 마이다스코리아) ;
  • 박기헌 (성균관대학교 전기.전자 및 컴퓨터공학부)
  • Published : 2001.02.28

Abstract

This paper presents an LMI(Lincar Matrix Inequalities) method for designing the optimal decoupling controller. The proposed controller based on the Two Degree-of-Freedom configuration considers both the performance of controller and decoupling properties. A minimal set of assumptions for existence of the decoupling controller formula is described in the state space formulas. The decoupling controller parameters are obtained from LMI methods for computational efficiency.

본 논문에서는 다변수 시스템을 제어하는 경우 효율적인 제어를 어렵게 만드는 입력과 출력 사이의 결합 효과를 제거하는 비결합 제어기를 설계하였다. 설계된 제어기는 비결합 조건뿐만 아니라 제어계의 성능을 동시에 고려할 수 있는 2자유도 구조를 가지고 있다. 또한 제어기의 계산을 용이하게 하기 위하여 플랜트를 표준모델로 확장시킨 후 전달 행렬을 상태공간 계수로 표현하였다. 그리고 제어기의 계수값들은 선형 행렬 부등식을 이용하여 블록꼴 최적화 문제로 설정하여 구했기 때문에 비결합 및 성능 최적화에 초점을 둔 비결합 제어기의 $H_2$ 설계를 하는데 있어 효과적인 방법을 제시하였다.

Keywords

References

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