Title :
The robustness of a proximate time-optional controller [optional read optimal]
Author :
Pao, Lucy Y. ; Franklin, Gene F.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL, USA
fDate :
9/1/1994 12:00:00 AM
Abstract :
Two practical time-optimal controllers for rapid slewing of type-3 and type-2 third-order plants, PTOS3 and PTOS3τ, respectively, were previously proposed. In this paper, we present results showing that the PTOS3τ is more robust than the corresponding time-optimal controller to both plant parameter variations and feasible unmodeled dynamics. In addition, a useful numerical method to calculate the time-optimal controls for general linear systems is presented. The results for the PTOS3 and the time-optimal controller for type-3 third-order plants are similar and thus are not detailed
Keywords :
optimal control; stability; PTOS3; PTOS3τ; proximate time-optimal controller; robustness; slewing; type-2 third-order plants; type-3 third-order plants; Automatic control; Control systems; Equations; Linear systems; Optimal control; Robot control; Robot sensing systems; Robust control; Robust stability; Torque control;
Journal_Title :
Automatic Control, IEEE Transactions on
