Two-degree-of-freedom l2-optimal tracking with preview
Two-degree-of-freedom l2-optimal tracking with preview
复制标题
带预览的二自由度 l2 最优跟踪
DOI：
10.1016/j.automatica.2003.09.003
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
J. Rosenthal
中科院分区：
文献类型：
--
作者：
D. Hoover;R. Longchamp;J. Rosenthal
提出了一种简单的SISO两自由度极点配置设计方法，该方法对给定的参考信号提供了102-最优跟踪。闭环极点位置首先由系统设计者选择。闭环零点，然后放置在一个最佳的方式，通过一个计算成本低廉的算法，以实现渐近跟踪与最佳的瞬态响应。预览方法已经成为处理具有非最小相位行为的系统的常用方法，然后可以可选地用于进一步改善最小相位和非最小相位系统的瞬态行为。与以前的结果的基础上的预览方法，这里提出的解决方案考虑了闭环极点动态，是102最优的相对于所有其他两个自由度的预览控制器具有相同的闭环极点。一个简单的解决方案的H2模型匹配问题，其中的设计参数Q是不合理的，但多项式，是心脏的解决方法。
A simple SISO two-degree-of-freedom pole-placement design method is presented that provides ℓ2-optimal tracking of a given reference signal. The closed-loop pole locations are first chosen by the system designer. The closed-loop zeros are then placed in an optimal fashion by a computationally inexpensive algorithm to achieve asymptotic tracking with an optimal transient response. The preview approach, which has become a common method for dealing with systems which have non-minimum phase behavior, can then optionally be used to further improve the transient behavior for both minimum phase and non-minimum phase systems. Unlike previous results based on the preview approach, the solution presented here takes into consideration the closed-loop pole dynamics, and is ℓ2optimal with respect to all other two-degree-of-freedom preview controllers with the same closed-loop poles. A simple solution to the H2model matching problem, where the design parameter Q is not rational, but polynomial, is the heart of the solution method.