발간년도 : [2023]
| 논문정보 |
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| 논문명(한글) |
[Vol.18, No.1] Robust P2/LTR Controller Design in the Presence of Plant Uncertainty |
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| 논문투고자 |
Sangmin Suh |
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| 논문내용 |
Feedback control systems consist of plants to be controlled and controllers stabilizing closed loop systems. The plants generally are described by mathematical models, which are called the nominal models without plant uncertainty. The plant uncertainty results from mathematical error between the nominal models and real models or corrupted feedback signals. Therefore, in real world, the plant uncertainty should be considered and if a controller in the presence of the plant uncertainty stabilizes a closed loop system and meets design specifications of the closed loop systems then the controller is called a robust controller. Thus, the robust controller should meet robust stability and robust performance. In our previous work, P2/LTR was proposed to satisfy time domain design specifications. However, because the proposed method was only for a nominal plant, the robustness was not considered. In this paper, robust control is proposed to meet both robust stability and robust performance in the presence of plant uncertainty. The plant uncertainty is mathematically designed so as to carefully describe the model uncertainty, and as for the model uncertainty plant input multiplicative uncertainty is used. Firstly, a nominal model is designed for nominal control, secondly a model with uncertainty and a performance bound are designed, and finally a robust controller is designed to satisfy both robust stability and robust performance. In this paper, it was verified that a parameter ρ determines robustness in P2/LTR framework. |
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