Title :
Reduced Order Multirate Compensator Synthesis
Author :
Mason, Gregory S. ; Berg, Martin C.
Author_Institution :
Department of Mechanical Engineering, University of Washington, Seattle, Washington, 98195
Abstract :
A method for synthesizing reduced order multirate compensators is presented. Necessary conditions for which the compensator parameter values minimize an infinite time quadratic cost function are derived. An algorithm for finding compensator parameter values which satisfy the necessary conditions is described. This algorithm is then used to design several tip position controllers for a two link robot arm.
Keywords :
Bandwidth; Cost function; Design methodology; NASA; Nonlinear equations; Processor scheduling; Sampling methods; Steady-state; Tellurium;
Conference_Titel :
American Control Conference, 1991
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-87942-565-2
