Achievable performance and sensitivity integral constraints in preview control

Author

Middleton, R.H. ; Chen, J. ; Freudenberg, J.S.

Author_Institution

Dept. of Electr. & Comput. Eng., Newcastle Univ., NSW, Australia

Volume

4

fYear

2001

fDate

2001

Firstpage

3075

Abstract

Preview control refers to a tracking control scheme whereby a reference trajectory, and a finite ´preview´ of future values of the reference trajectory are used in the controller. Such controllers have been explored in the context of linear and nonlinear inverse tracking controllers, where particularly for non stably invertible plants, preview of the reference trajectory gives significant performance advantages. Without the presence of preview, it has been known that lack of a stable inverse imposes inherent limitations on the achievable performance of a feedback control loop. In this paper, we explore the extension of these performance limitations to the preview control case. In particular, we consider the infimal achievable H_∞ performance, and Poisson sensitivity integral results for the finite preview case

Keywords

H^∞ control; feedback; predictive control; sensitivity; stochastic processes; Poisson sensitivity integral results; feedback; finite preview case; infimal achievable H_∞ performance; linear inverse tracking controllers; non stably invertible plants; nonlinear inverse tracking controllers; performance constraints; preview control; reference trajectory; reference trajectory preview; sensitivity integral constraints; tracking control scheme; Control systems; Feedback control; Integral equations; Knowledge engineering; Linear feedback control systems; Performance gain; Poles and zeros; Robustness; Trajectory; Transfer functions;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980288

Filename

980288