1994 Fiscal Year Final Research Report Summary
Design of robust performance control against real parameter variations
| Project/Area Number |
05650419
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
計測・制御工学
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| Research Institution | Waseda University |
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Principal Investigator |
SHIMEMURA Etsujiro Waseda Univ. School of Sci.Eng.Professor, 理工学部, 教授 (80063585)
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| Co-Investigator(Kenkyū-buntansha) |
UCHIDA Kenko Waseda Univ. School of Sci.Eng.Professor, 理工学部, 教授 (80063808)
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| Project Period (FY) |
1993 – 1994
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| Keywords | Robust control / Parameter variation / Robust stability / Time delay |
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| Research Abstract |
The objective of this research was to establish a design method for robust performance controllers against real parameter variations of systems. Robust performance controllers mean the controllers which assure stability and a prescribed level of some performance. Real parameter variations mean system uncertainties due to system failures, modeling errors or system parameter changes. This research, in particular, focused on the following points : (1) To develop a mathematical model to describe system failures ; (2) To developan index to evaluate deterioration ofsystem performance due to failures in systems ; (3) To establish a theory fordesign method of controllers ; (4) To develop an algorithm for designing controllers ; (5) To develop a CAD system to perform the algorithm ; (6) To overcome delay in control.
These points were discussed in this paper, and several important results were obtained. The discussions in this research led to a general procedure for regarding, for example, system failures as real parameter variations in systems. Based on this procedure, problems can be treated as design problems of robust controllers. A design method of controllers which realize a desirable pole location and robust stability was obtained. A robust stabilization problem for systems with delay in control was solved by using two finite dimensional Riccati equations. The robustcontrol design problem was reduced to some control design problems for nonlinear systems. To solve the nonlinear control problem, we developed a method based on the so-called gain scheduling, which lead to a linear control problem, and showed its effectveness.
Through this research, a CAD system in our laboratory was used. Some new tools for performing our design method were developed and used successfuly in the CAD system.
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