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Fully Parameterized Youla Parameter Design Method in GIMC Structure Using Frequency Responses

Masayuki okamura  Kazuhiro Yubai  Daisuke Yashiro  Satoshi Komada  
【摘要】:The GIMC structure is known as one of robust control structures for plants with perturbations and modeling errors.The GIMC structure consists of a plant,a controller and a Youla parameter which generates a compensation signal for plants with perturbations and modeling errors.The model-based design of the Youla parameter generates a high-order controller since the generalized plant for controller design is a high-order system.This paper proposes the low-order design method of a Youla parameter based on frequency responses of the plant.

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