Robust and nonrobust tracking

Jan Štecha

Kybernetika (1998)

  • Volume: 34, Issue: 2, page [203]-216
  • ISSN: 0023-5954

Abstract

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For zero steady state tracking error it is necessary to include n integrators in the control loop in the case of reference signal generated by n integrators. This result can be generalized to arbitrary n unstable modes of the reference generator according to the “internal model principle”. This paper shows an alternative solution of the asymptotic reference signal tracking problem using feedforward. The solution is not robust but gives a feedback controller with reduced complexity. Robust tracking structure with error driven controller and nonrobust control structure with feedforward are also compared with respect to quadratic criteria. The alternative solution with feedforward is not asymptoticaly robust but sometimes gives better performance with respect to quadratic criteria.

How to cite

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Štecha, Jan. "Robust and nonrobust tracking." Kybernetika 34.2 (1998): [203]-216. <http://eudml.org/doc/33348>.

@article{Štecha1998,
abstract = {For zero steady state tracking error it is necessary to include $n$ integrators in the control loop in the case of reference signal generated by $n$ integrators. This result can be generalized to arbitrary $n$ unstable modes of the reference generator according to the “internal model principle”. This paper shows an alternative solution of the asymptotic reference signal tracking problem using feedforward. The solution is not robust but gives a feedback controller with reduced complexity. Robust tracking structure with error driven controller and nonrobust control structure with feedforward are also compared with respect to quadratic criteria. The alternative solution with feedforward is not asymptoticaly robust but sometimes gives better performance with respect to quadratic criteria.},
author = {Štecha, Jan},
journal = {Kybernetika},
keywords = {signal tracking problem; feedback structure; feedforward control; robust tracking; signal tracking problem; feedback structure; feedforward control; robust tracking},
language = {eng},
number = {2},
pages = {[203]-216},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Robust and nonrobust tracking},
url = {http://eudml.org/doc/33348},
volume = {34},
year = {1998},
}

TY - JOUR
AU - Štecha, Jan
TI - Robust and nonrobust tracking
JO - Kybernetika
PY - 1998
PB - Institute of Information Theory and Automation AS CR
VL - 34
IS - 2
SP - [203]
EP - 216
AB - For zero steady state tracking error it is necessary to include $n$ integrators in the control loop in the case of reference signal generated by $n$ integrators. This result can be generalized to arbitrary $n$ unstable modes of the reference generator according to the “internal model principle”. This paper shows an alternative solution of the asymptotic reference signal tracking problem using feedforward. The solution is not robust but gives a feedback controller with reduced complexity. Robust tracking structure with error driven controller and nonrobust control structure with feedforward are also compared with respect to quadratic criteria. The alternative solution with feedforward is not asymptoticaly robust but sometimes gives better performance with respect to quadratic criteria.
LA - eng
KW - signal tracking problem; feedback structure; feedforward control; robust tracking; signal tracking problem; feedback structure; feedforward control; robust tracking
UR - http://eudml.org/doc/33348
ER -

References

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  1. Kučera V., Discrete Linear Control: The Polynomial Equation Approach, Wiley, Chichester 1979 Zbl0432.93001MR0573447
  2. Kwakernaak H., Sivan R., Linear Optimal Control Systems, Wiley, New York 1972 Zbl0276.93001MR0406607
  3. Neuman P., Husták P., Štecha J., Havlena V., State controller/observer design for superheater temperature control, In: Proceedings of the 4th IFAC Symposium CADCS’88, Beijing 1988, pp. 168–174 (1988) 
  4. Štecha J., Havlena V., Internal model principle and asymptotic reference signal tracking, In: Proceedings of the Cairo Third IASTED International Conference Computer Applications in Industry, Cairo 1994, pp. 107–110 (1994) 
  5. Štecha J., Kraus F., Robustness versus control quality in asymptotic reference tracking, In: Proceedings of the Fifteenth IASTED International Conference “Modelling, Identification and Control”, Innsbruck 1996, pp. 292–294 (1996) 
  6. Vidyasagar M., Control System Synthesis: A Factorization Approach, MIT Press, Cambridge, MA 1987 Zbl0655.93001MR0787045
  7. Kučera V., Analysis and Design of Discrete Linear Control Systems, Academia, Prague 1991 Zbl0762.93060MR1182311

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