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A loop transfer recovery approach to robust control system design using H-infinity optimization methods

Başlık çevirisi mevcut değil.

  1. Tez No: 400747
  2. Yazar: LEVENT TURAN
  3. Danışmanlar: PROF. D. LEWIS MINGORI
  4. Tez Türü: Doktora
  5. Konular: Makine Mühendisliği, Mechanical Engineering
  6. Anahtar Kelimeler: Belirtilmemiş.
  7. Yıl: 1991
  8. Dil: İngilizce
  9. Üniversite: University of California Los Angeles
  10. Enstitü: Yurtdışı Enstitü
  11. Ana Bilim Dalı: Belirtilmemiş.
  12. Bilim Dalı: Belirtilmemiş.
  13. Sayfa Sayısı: 154

Özet

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Özet (Çeviri)

It is known that the excellent sensitivity properties of Linear Quadratic optimal controllers are lost when state feedback is replaced by state estimate feedback. One strategy for dealing with this problem is Loop Transfer Recovery (LTR). Various design strategies have been proposed for recovering properties of full state feedback within this framework, the most familiar being that based on LQG theory. More generally, Loop Transfer Recovery may be regarded as a special form of loop sensitivity shaping. This viewpoint suggests alternative design strategies including some which relax the requirement that the estimator or controller be unbiased. These approaches still face the design tradeoffs and limitations inherent in all feedback systems such as those which apply to nonminimum phase plants. The formulation used here, however, suggests different approaches for dealing with these issues, and hence provide far more options for sensitivity shaping. The methods developed in this dissertation make use of the recent results in iK? minimization. Hence, although the recovery problem is formulated in the intuitively appealing frequency domain, the computations are carried out in the time domain where robust algorithms have recently become available. It can be shown for a large class of plants that the computational complexity is equivalent to that of a single Riccati equation as in the LQG Loop Transfer Recovery method, but the Riccati equation involves a sign indefinite term. Furthermore, as the K? cost is allowed to approach °°, one of the methods developed here converge to the LQG Loop Transfer Recovery procedure, thus making this procedure a special case of the new method. The relationship between the quality of the full state feedback, nonminimum phase zero location and direction, and the amount of recovery achievable with these methods is also analyzed. The methods developed in this dissertation are also extended to deal with more general disturbances. This extension provides a systematic procedure to deal with parameter uncertainties. This has the important consequence that both unstructured and structured uncertainties can be considered within the same framework.

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