2-Delay Digital Robust Control Theory and Its Applications

本研究探讨二延迟数位式强健控制之理论，并将所得结果应用于马达控制，以确认二延迟控制之能力，并将取样动作引入数位式控制中，以使控制律之变更具有弹性。但这种采样方法存在一个缺点，即即使连续系统是最小相位系统，离散系统也存在不稳定的零点。这些不稳定的零点使得数字控制系统在任何意义上的鲁棒性都很差，为了解决这个问题，我们提出了一种双延迟数字控制方法，在该方法中，除了测量普通采样点的输出外，还测量中间采样点的输出信号作为辅助输出。如果引入这样的方法，零点可以被分配，并且所提到的问题被解决。本文的主要研究结果如下：1）利用二延迟控制实现了一个稳定的逆系统; 2）构造了一个鲁棒的数字控制系统，即使在状态变量不可达的情况下也是如此; 3）证明了互补灵敏度函数的最小H* 范数; 4）在直流电机控制中的大量实验表明了二延迟控制的鲁棒性; H* 控制理论的研究取得了许多新的理论成果

In this research we have investigated the theory of 2-delay digital robust control and have applied obtained results to a motor control in order to confirm the ability of the 2-delay control.The sampling action is introduced to the digital control in order to make the changing of control law flexible. But this sampling causes a drawback such that the discrete-time system has unstable zeros even the continuous-time plant is minimal phase. Those unstable zeros make the robustness in any meaning of the digital control system inferior.To get around the problem we have proposed the 2-delay digital control method in which the output signal at the inter-sampling point is measured as an auxiliary output in addition to the measurement of the output at the ordinary sampling point. If such a method is introduced the zeros can be assignable and the problem mentioned is solved. We have got the following results in this research1) We have realized a stable inverse system using 2-delay control2) We have constructed a robust digital control system even when the state variables are inaccessible3) We have shown the minimum H* norm of the complementary sensitivity function.4) Many experiments in a DC motor control have shown robustness properties of 2-delay control5) Many new theoretical results have been obtained in studies on H* control theory