入力飽和を有するサーボ系に対する出力フィードバック補償器の設計方法

Abstract

This paper considers linear time-invariant continuous-time servosystems with control input saturation nonlinearities, and proposes a design method of output feedback controllers satisfying a regional integral quadratic performance for the systems based on the generalized sector approach. The method assumes the output of the nonlinearities to be available for the control, and then it is an integrated design of dynamic output feedback and anti-windup compensators with a given servocompensator based on an error system regarding a steady state as a new origin. In this case, this paper clarifies that the design problem using the method can be recast as a convex optimization problem based on linear matrix inequalities (LMIs), and a problem setting initial states of the compensators can be recast as a problem solving linear matrix equations (LMEs), respectively. Finally, this paper points out that the proposed design method is helpful through a numerical example designing the servosystem with anti-windup structure via the derived LMIs and LMEs.