제어로봇시스템학회:학술대회논문집
- 1999.10a
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- Pages.79-82
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- 1999
A NEW METHOD OF LQ INTEGRAL CONTROL, FOR NONMINIMUM PHASE SYSTEMS
- Kwon, Byung-Moon (Dept. of Elec. Eng., Inha Univ.) ;
- Kwon, Oh-Kyu (Dept. of Elec. Eng., Inha Univ.)
- Published : 1999.10.01
Abstract
The right half plane (RHP) zeros may cause severe problems, such as undershoots, oscillations and time delay in the transient response of the systems. In this paper, we formulate a linear quadratic type problem to deal with the effects of the RHP zeros in the nonminimum phase systems. Based on the LQ formulation, this paper shows the trade-off relation between undershoot and rising time performances in nonminimum phase systems by using a new performance index which consists of new state and tracking error. And performances of the proposed method are shown via computer simulations.
Keywords
- integral control;
- linear quadratic regulator (LQR);
- nonminimum phase system;
- right half plane (RHP) zero