New Design of Linear Control Systems Based on the Principle of State and Output Feed-Back

Abstract

In this paper, it is shown that the design of a linear control system with following properties: (1) having no steady state error can be guaranteed for all inputs (applied to the control system) and disturbances (applied to the controlled object) described by p-th order polynomials, (2) any set of arbitrarily designated eigenvalues can be always realized, (3) the property (1) of the steady state error can be held unchanged in spite of the change or the ambiguity of system parameters in controlled objects, can be established by the use in combination of state and output (controlled variable) feed-back. Throughout this paper, it is assumed that controlled objects are all controllable observable time-invariant linear systems with m inputs, m outputs and n state variables, and always satisfy a certain condition concerning a steady state solution of the systems. The structure and design formula of the control system for each of the following four cases are given: (1) continuous type of controlled objects (a) with directly measurable states only or (b) with directly unmeasurable states and (2) discrete type of controlled objects (c) with directly measurable states only or (d) with directly unmeasurable states. The practical design procedure and some discussion are also given.