| Title |
A Novel Robust Controller Design using Robust Internal-loop Compensator |
| Authors |
최현택(Choi, Hyun-Taek) ; 서일홍(Suh, Il-Hong) |
| Keywords |
Robust control ; Robust Internal-loop compensator ; Disturbance Rejection |
| Abstract |
A new robust controller design methodology for single-input single-output systems is proposed, where the proposed controller consists of a conventional or optimal servo controller at the outer loop as well as the robust internal-loop compensator(RIC) to eliminate the model uncertainty and external disturbance. It is shown that RIC with finite gain can make actual systems be nominal models within a prespecified error bound. And, it is also shown that RIC-based system is robustly stable regardless of input saturation. Several numerical examples are illustrated to show validities of the proposed robust controller. |