제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Stabilizing controllers for plants with perturbations

  • Nakamura, Tomio (Department of Electrical Engineering, Miyagi National College of Technology) ;
  • Obinata, Goro (Department of Mechanical Engineering, Faculty of Miningm Akita University)
  • Published : 1993.10.01
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Abstract

This paper gives a convenient parameterization for the clas of all stabilizing controllers in the presence of plant perturbation. The perturbations are constrained in such class as plants are stabilizable by a nominal controller. By using the controller stabilizing a given plant with perturbation, we can obtain a parametrization of all stable closed-loop transfer functions, which are affine in the free parameter of the controller. It is easy to extend the controller to the case of a two-degree-of-freedom controller.

Keywords