The Combined Classical/Modern Technique for Optimal Fesign of Robust Motion Controller

강인한 운동제어기의 최적 설계를 위한 고전적 기법과 현대적 기법의 결합

This paper propose a optimal design method for robust notion controllers of under-water vehicles using the combined technique between classical and modern theories. The proposed method is presented which utilizes classical control methods to obtain a good robustness and modern control methods to set optimal gains. LQ, SVD, multivariable frequency analysis and Bode-Root Locus (BRL) plot are used.