• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.889-897
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• 1999

This paper deals with a problem searching a target transfer function to meet the time-domain specifications for feedback system with given plant transfer function. For the Type I system, we first define three forms of transient response to unit step input, which are named by F, M, S-type. These are charaacterized as follows ; F-type has fast initial response and slow approach to the steady sate after reaching at 90% of the steady state value, S-type has slow initial response but fast approach to the steady state, and M-type is denoted by highly smooth response between F-type and S-type. Three prototypes corresponding to each form are proposed, time. For the order $n{\geq}4$, after determining admissible root structures of target characteristic polynomials empirically and expressing such polynomial coefficients by using special parameters ${\gamma}_i$ and $\epsilon$, the optimal prototypes that minimize the integral of the squared of the modified errors(ISME) have been obtained. Since the step responses of these prototypes have almost same wave forms irrespective to the order, the desired settling time or the rise time can be converted into the equibalent time constant $\tau$ and thus it is easy to obtain a target transfer function. It is shown through a design example that the present prototype is very useful for meeting the time-domain specifications and has been compared with different methods with a viewpoint of pertinence.