Robust Servo Controller Design Based on Linear Shift Invariant Differential Operator
This paper proposes a robust servo controller deign for MIMO systems based on a linear shift invariant differential (LSID) operator and its inverse operator on Schwartz space using the internal model principle (IMP). To do this task, the followings are done. First, the basic concept idea of LSID operator and its invertible operator are described. Furthermore, the IMP is rearranged based on LSID operator and the IMP is modified by the properties of the LSID operator. Second, an extended system operated by the LSID operator to a given MIMO system with the given reference is obtained. Third, the controllability checking of extended systems is done. Fourth, a state feedback law is obtained by solving the pole assignment problem with all the poles of the extended system. Fifth, The proposed controller is applied for controlling the sideslip angle and yaw rate of a 4-wheel steering vehicle as a MIMO system with 2 inputs of steering angles of front and rear wheels and two outputs of the sideslip angle and yaw rate. Finally, simulation results are shown to verify the effectiveness of the proposed controller.
KeywordsRobust servo controller MIMO systems Linear shift invariant differential (LSID) operator Four wheel steering vehicle Internal model principle (IMP)
This research was conducted under the Pukyong National University Research Park (PKURP) for Industry-Academic Convergence R&D support program, which is funded by the Busan Metropolitan City, Korea.
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