제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.577-580
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- 1996
Robust PI controller design using LQ-servo
LQ-servo를 이용한 강인한 PI제어기 설계
Abstract
LQ-servo is a stability-robustness guaranteed multivariable controller design method based on the LQR structure to improve command following performance with output feedback. In this paper, a new type of PI controller based on LQ-servo is introduced. Then, Command following performance is improved using the limiting behavior of the control gain and weighting factors on the low frequency part of design parameter Q that is the state weighting matrix in the cost function.