H∞制御を併用した内部モデル制御による外乱除去制御(機械力学,計測,自動制御)

In this paper, additive effects of a control method derived by combining the internal model control and H∞ control are proposed. By using the method, infinity norm of a transfer function from disturbances to outputs can be attenuate to a designated value. Existence of a stabilizing solution and robust stability are also discussed a mechanical system injected disturbance into input channels. Effectiveness of the method is confirmed by comparative experiments on disturbance decoupling control for a spring mass system. The results show that the proposed method is effective on disturbance decoupling control.