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oai:kumadai.repo.nii.ac.jp:00034437 2023-09-14T00:38:05Z 426:428

Model Error Compensator with Parallel Feed-Forward Filter Ichimasa, Gou Okajima, Hiroshi Okumura, Kosuke 松永, 信智 マツナガ, ノブトモ Matsunaga, Nobutomo 松永 マツナガ Matsunaga 信智 ノブトモ Nobutomo 一政, 豪 イチマサ, ゴウ 岡島, 寛 オカジマ, ヒロシ 奥村, 洸祐 オクムラ, コウスケ 松永, 信智 マツナガ, ノブトモ Matsunaga, Nobutomo 松永 マツナガ Matsunaga 信智 ノブトモ Nobutomo This is an Accepted Manuscript of an article published by Taylor & Francis in SICE Journal of Control, Measurement, and System Integration on 18/1/2021, available online: http://www.tandfonline.com/10.9746/jcmsi.10.468 モデル誤差抑制補償器 ロバスト制御 外乱オブザーバ システムのロバスト化 並列フィードフォワード補償器 非最小位相系 Robust Control Model Error Compensator DOB MEC Parallel Feed-forward Filter Non-minimum Phase Systems Design methods for control systems based on plant models have been developed for many years. If a mathematical model is accurately obtained from the input-output relation of a plant, then the designed controller for the model performs well for the control system connected with the plant. However, the desired control performance might not be achieved when there is an undeniable modeling error. To overcome this problem, the authors proposed the model error compensator (MEC) to minimize the effect of the modeling error between the plant and the model. The MEC works well for many control systems, such as unstable systems and non-linear systems. However applying the MEC to non-minimum-phase plants is difficult because of their control system structures. Non-minimum-phase plants are well known for being difficult to control. This paper proposes an MEC with a parallel feed-forward filter (PFF). The PFF is used to cancel the non-minimum-phase characteristics of the plant. The effectiveness of the proposed method is illustrated through numerical examples. Taylor & Francis 2017-09-01 eng journal article AM http://hdl.handle.net/2298/00045876 https://kumadai.repo.nii.ac.jp/records/34437 10.9746/jcmsi.10.468 1882-4889 SICE Journal of Control, Measurement, and System Integration 10 5 468 475 https://kumadai.repo.nii.ac.jp/record/34437/files/10-9746_jcmsi-10-468.pdf application/pdf 2.3 MB