Intelligent Mechanical Earth by HィイD22ィエD2/HィイD2∞ィエD2 Control : Experiment and Digital Signal Processing

This research consists of control experiment based upon a new concept called Mechanical earth， and theoretical work on H-D22/H-D2控制as well as Digital signal processing for implementation。更具体地说，我们的主要主题一直在继续：1.我们已经完成了多边ILQ设计理论，一种特殊类型的H-D22-D2控制，并解决了样本数据LQ控制的反向问题，将数字信号处理与实现的数字信号处理的关系。我们已经制定了一个控制法，其中一个控制法与主导极点位置的组合，并在理论上表明，在某些情况下，这是可以实现的。We have for dynamic state feedback law which achieves H-D2模型D2控制和partial pole placement simultaneously.4。爱马仕D2/爱马仕D2控制，我们已经为单一问题提供了一个数字解决方案; I.e.，在任何情况下，绩效指数可能不满意标准假设。当我们实施一项控制法时，我们需要通过采样来不断地改变和离散时间信号。我们在此转换中的影响（an extention of H-D2）。However，进一步的调查，如相位属性尚未完全执行。在一个优秀的频率特性被H-D22或LQ控制所接受的观点中，我们已经通用了一种多名ILQ方法，使之成为实现稳定性边际分配和部分极安置的方法。我们已经创建了一个实验性的安装和性能的控制实验。也许我们可以确认控制系统的功能，我们已经找到了。“这个加速传感器和比萨饼制造器对我们的目标来说并不合适。”需要进行进一步的调查，以建立一个实用的控制系统。

This research consists of control experiment based upon a new concept called mechanical earth, and theoretical work on HィイD22ィエD2/HィイD2∞ィエD2 control as well as digital signal processing for implementation. More specifically, our main toptics have been as follows :1. We have completed the polynomial ILQ design theory, a special kind of HィイD22ィエD2 control, and solved the inverse problem of sampled-data LQ control numerically, in relation to the digital signal processing for implementation.2. We have developed a control law which combines quadratic stabilization with dominant pole placement, and shown theoretically that under some coudition this is indeed implementable.3. We have developed a design method for dynamic state feedback law which achieves HィイD2∞ィエD2 control and partial pole placement simultaneously.4. In HィイD22ィエD2/HィイD2∞ィエD2 control, we have partially given a numerical solution for the singular problem ; I.e., the case where the performance index does not satisfy standard assumptions.5. When implementing a control law, we need to transform between continuous- and discrete-time signals via sampling. We have analyzed the effect of this transformation in terms of γ-positive realness (an extention of HィイD2∞ィエD2 control). However, further investigation such as phase property has not been fully performed.6. In view of an excellent frequency property possessed by HィイD22ィエD2 or LQ control, we have generalized the poly-nomial ILQ method into a method for achieving stability margin assignment and partial pole placement simultaneously.7. We have composed an experimental setup and performed control experiment. Although we could confirm the function of the control system, we have found out. That the acceleration sensor and the piezo actuator are not sufficient to our objective. Further investigation is needed for a practical control system.