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PERFORMANCE LIMITATIONS IN THE RIPPLE-FREE ROBUST SERVOMECHANISM PROBLEM FOR SAMPLED LTI SYSTEMS
L. Ben Jemaa E. J. Davison
Department of Electrical and Computer Engineering
University of Toronto
10 King’s College Road, Toronto, Ontario, M5S 3G4 Cananda
benjema@control.toronto.edu, ted@control.toronto.edu
phone: (416) 978-6342; fax: (416) 978-0804
Fundamental limitations for error tracking/regulation are obtained for the ripple-free robust servomechanism problem (RFRSP) for a sampled system. In studying this problem, the robust servomechanism problem is considered for a multi-input/multi-output sampled LTI system, using a cheap control problem formulation. Explicit expressions are obtained for the limiting performance costs associated with error tracking/regulation in the RSP, and application of these results is then made to obtain explicit expressions for the limiting performance costs associated with error tracking/regulation in the RFRSP. These limitations can be characterized completely by the number and location of the non-minimum phase transmission zeros.
Keywords: Sampled systems; cheap control problem; optimal control; performance limitations; servomechanism problem; non-minimum phase
Session slot T-Th-M21: Posters of Design Methods and Optimal Control/Area code 2d : Optimal Control
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