| 摘要 |
PROBLEM TO BE SOLVED: To efficiently design a stable and robust actual system. SOLUTION: A notch filter for compensating a resonance mode of a control system and a full bandpass filter configured by combining the resonance modes are modeled (step S10), and a control object for design including the full bandpass filter is determined (step S106). Then, weight functions included in a control unit are derived (step S111), and after that, a target gain cross frequency and a phase margin set by a designer are used to adjust the gain of the weight functions (step S112). After that, phase variables included in a phase lead weight are determined, and the weight functions are decided (step S113). Then, an H∞loop shaping method is applied to the decided weight functions and the control object for design (step S114), and an H∞control unit is designed (step S115). COPYRIGHT: (C)2009,JPO&INPIT
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