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Combined pole placement sensitivity function shaping method using convex optimization criteria
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DOI：10.1016/S0005-1098(99)00013-8.png)
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Abstract
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This paper deals with the design of robust digital controllers by the combined pole placement/sensitivity function shaping method. The problem of assigning a desired region for the closed-loop poles and simultaneously respecting certain bounds on the sensitivity functions is formulated and solved as a convex optimization problem. Specifications like dominant closed-loop poles or integration controller action may be introduced just as well as other fixed parts for the controller. The method is illustrated by the controller design for a very flexible 360 degrees arm. (C) 1999 Elsevier Science Ltd. All rights reserved.
Keywords:
robust control
digital control
numerical methods
convex optimization
flexible structures
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5.9
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1.2W
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