Perfect control of the robust servomechanism problem

Davison, E.J.; Scherzinger, B.

doi:10.1109/tac.1987.1104691

Cited by 110 publications

(44 citation statements)

References 16 publications

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“…As proposed on [40], a robust controller is designed to solve the robust servomechanism problem (RSP) [41][42][43][44][45] for the case of constant signals, in conjunction with the new proposed robustness constraint in [46]. Since the plant is minimum phase [40], in principle, we can achieve "perfect control" [43] for the system [40].…”

Section: Robust Servomechanism Controllermentioning

confidence: 99%

“…Since the plant is minimum phase [40], in principle, we can achieve "perfect control" [43] for the system [40].…”

Section: Robust Servomechanism Controllermentioning

confidence: 99%

“…Since Equation (8) is stabilizable and detectable, the optimal controller which minimizes Equation (7), subject to Equation (8), is a stabilizing controller. In this case, a standard observer [43] can be used to implement the resultant optimal state feedback controller obtained in minimizing Equation (7) as given by:…”

Section: Robust Servomechanism Controllermentioning

confidence: 99%

“…where K 0 and K 1 are constant gain matrices [43]. In particular, as → 0, zero channel interaction and arbitrary fast speed of response occurs, while no unbounded peaking occurs in the error response.…”

Section: Robust Servomechanism Controllermentioning

confidence: 99%

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A High Performance Real-Time Simulator for Controllers Hardware-in-the-Loop Testing

et al. 2012

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This paper presents a high performance real-time simulator for power electronic systems applications and primarily intended for controller hardware-in-the-loop (CHIL) testing. The novelty of the proposed simulator resides in the massively parallel hardware architecture that efficiently exploits fine-grained parallelism without imposing severe communication overhead time that can limit the performance. The simulator enables the use of a nanosecond range simulation timestep to simulate power electronic systems. Through the use of this nanosecond range simulation timestep, the simulator minimizes the error arising from the intersimulation timestep switching phenomenon associated with CHIL. The proposed hardware architecture is realized based on the FPGA technology. The simulator is tested and its CHIL capability verified based on the closed-loop testing of a robust multivariable servomechanism controller for autonomous operation of a distributed generation unit.

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Section: Robust Servomechanism Controllermentioning

confidence: 99%

“…Since the plant is minimum phase [40], in principle, we can achieve "perfect control" [43] for the system [40].…”

Section: Robust Servomechanism Controllermentioning

confidence: 99%

Section: Robust Servomechanism Controllermentioning

confidence: 99%

Section: Robust Servomechanism Controllermentioning

confidence: 99%

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A High Performance Real-Time Simulator for Controllers Hardware-in-the-Loop Testing

et al. 2012

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“…the so-called regulator or servomechanism problem, was shown in [1], [14]- [16], to be solvable if and only if (A, B) is stabilizable,…”

Section: Review Of Reference-trackingmentioning

confidence: 99%

Path-following for nonminimum phase systems removes performance limitations

Aguiar

Hespanha

Kokotović

2005

IEEE Trans. Automat. Contr.

181

140

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Abstract-We highlight an essential difference between path-following and reference-tracking for non-minimum phase systems. It is well-known that in the reference-tracking, for non-minimum phase systems, there exists a fundamental performance limitation in terms of a lower bound on the L 2 -norm of the tracking error, even when the control effort is free. We show that this is not the case for the less stringent path-following problem, where the control objective is to force the output to follow a geometric path without a timing law assigned to it. Furthermore, the same is true even when an additional desired speed assignment is imposed.

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