Robust Pole Assignment in a Specified Disk

  • Nguyen, Van-Giap (Dept. of Mechatronics, HoChiMinh City University of Technology) ;
  • Nguyen, Tan-Tien (Dept. of Mechanical and Automotive Engineering, Pukyong National University) ;
  • Lee, Gun-You (Dept. of Mechatronics, Pukyong National University) ;
  • Kim, Sang-Bong (Dept. of Mechanical and Automotive Engineering, Pukyong National University)
  • 발행 : 2000.06.01

초록

This paper presents a method to assign robustly the closed loop system's poles in a specified disk by a state feedback for a linear time invariant system with structured or unstructured uncertainties. THe proposed robust design procedure includes two steps. Firstly, the perturbed closed loop matrix $A_{cl p}$ = $A_{cl}$ + Δ$A_{cl}$ is rearranged such that it is a function of the nominal closed loop matrix $A_{cl}$. Hence, we can control the positions of the perturbed closed loop poles by choosing $A_{cl}$ appropriately. Secondly, the feedback control law F that assigns the closed loop poles of the perturbed system in a specified disk is determined from the equation $A_{cl}$ = A + BF. A procedure for finding F is proposed based on partitioning every matrix of the equation $A_{cl}$ = A + BF in the horizontal direction.

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