Abstract
A robustness problem of output trajectories is considered here in the design of servo systems. Our purpose is to design a robust servo system with tracking robustness in that its output trajectory remains in a neighborhood of the nominal trajectory when the dynamics of the system is perturbed. For this purpose we propose a control configuration of robust servo system with a conditional feedback. In this configuration the robust servo system is designed by the Inverse Linear Quadratic (ILQ) design method as proposed by the second author, and the conditional feedback is added to achieve tracking robustness of the output response. First, we state the configuration of this servo system, called Model Reference ILQ (MR-ILQ) servo system, and then provide a theoretical basis for parameter tuning. Second, we clarify the relation between these parameters and the closed loop performances such as robust stability and tracking robustness. Finally, we establish a new design method of ILQ servo system with tracking robustness. We also illustrate a numerical example to show the validity of our results.
Published Version
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