Implementation and performance analysis of digital servo controller using LQG/LTR method

LQG/LTR 방법을 이용한 견실한 디지탈 서어보 제어기 실현 및 성능분석

The robust servo controller is designed by the procedure of LQG/LTR method in the continuous-time domain. This design results is equivalently converted to the discrete-time suboptimal LQG in order to implement by the microcomputer system. The LTP, condition of the discrete-time LQG is analyzed and approved by the experiments against the uncertainty of real plant, the discretized LQG /LTR control shows the good robustness.