| Title |
The Design of Loop-shaping Two-degree-of-freedom H_∞ Digital Controller for Sampled-data System |
| Authors |
이상철(Lee, Sang-Cheol) ; 박종우(Park, Jong-U) ; 조도현(Jo, Do-Hyeon) ; 이종용(Lee, Jong-Yong) ; 이상효(Lee, Sang-Hyo) |
| Keywords |
Loop-shaping ; Two-degree-of-freedom ; Sampled-data system ; Lifting ; Inverted pendulum |
| Abstract |
In this paper we propose a design procedure of loop-shaping two-degree-of-freedom H∞ digital controller for sampled-data system. We extend the continuous time loop-shaping two-degree-of-freedom H∞ control problem to sampled-data system. The configuration of generalized plant is modified for sampled-data system. And then using continuous lifting we obtain the digital controller. In the final stage of loop-shaping procedure the problem of absorbing weighting functions is discussed. We summarize this study to the design procedure and illustrate the application for an inverted pendulum on the cart. |