### Optimization and Systems Theory Seminar

Friday, April 23, 2004, 11.00-12.00, Room 3721, Lindstedtsvägen 25

**Associate Professor Hisaya Fujioka**

Department of Applied Analysis and Complex Dynamical Systems

Graduate School of Informatics

Kyoto University

Kyoto, Japan
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H-infinity feedback design and command shaping for digital servo systems

In this talk, we consider two design problems of digital control systems with
tracking property to step reference signal as a basic specification. The
system is composed of a continuous-time plant and a discrete-time controller
with sample and hold devices. The intersample behavior of the system is
taken into account in both of the design problems.
The first problem is a feedback controller design based on the sampled-data
H-infinity synthesis method, where the purpose is to achieve desired feedback
characteristics such as robust stability, as well as robust tracking property.
We derive a well-defined problem configuration and design procedure for both
the fixed hold case and the generalized hold case. This part is a joint work
with Prof. Shinji Hara.

In the second part of this talk, we consider a command shaping problem
where the design parameter is the exogeneous command while the system
is fixed. We optimize the piece-wise constant command to minimize the
L2 norm of the tracking error, under constraints on values of control
inputs and/or other related signals. The problem is then reduced into
a convex optimization problem by relaxing the constraints into ones on
finite time horizon.

Calendar of seminars

*Last update: April 13, 2004 by
Anders Forsgren.
*