Design of ripple-free multivariable robust servomechanisms

The application of standard robust servomechanism theory to sampled data systems guarantees asymptotic tracking at sampling instances and between sampling instants, the output will normally contain ripple. In this note, the robust servomechanism theory is extended to sampled-data systems and a techn...

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Bibliographic Details
Published in:IEEE transactions on automatic control 1986-07, Vol.31 (7), p.661-664
Main Authors: Franklin, G., Emami-Naeini, A.
Format: Article
Language:English
Subjects:
Applied sciences
Automatic control
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Controllability
Differential equations
Exact sciences and technology
Kalman filters
Matrix decomposition
Optimal control
Riccati equations
Robustness
Servomechanisms
Stochastic processes
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Summary:The application of standard robust servomechanism theory to sampled data systems guarantees asymptotic tracking at sampling instances and between sampling instants, the output will normally contain ripple. In this note, the robust servomechanism theory is extended to sampled-data systems and a technique is proposed for ripple-free tracking of sinusoids and polynomials. It is shown that a continuous internal model is necessary and sufficient to provide ripple-free response.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.1986.1104361