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

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.