TABLE OF CONTENTS In Chapter 4 we presented a qualitative analysis of the properties of SISO continuous-time systems with the highest derivative in feedback control. This analysis was based on the singular perturbation method. In the present chapter we obtain relationships helpful in choosing the control law parameters of (4.38). We seek robustness of the closed-loop system properties in a specified region of the state space of the system under the assumption that we lack complete information about varying parameters of the system and external disturbances.
We begin by discussing the problem of accuracy analysis and the choice of the high gain in accordance with the requirements of control accuracy and rejection of external disturbances. As the FMS equation (4.55) is a linear differential equation, the results of linear control theory may be used to analyze the FMS properties. Therefore, in the next part of the chapter, the design of control law parameters based on desired root placement of the FMS characteristic polynomial is presented. Finally, the influence of high-frequency noisy measurements and varying parameters, as well as the application of the frequency domain approach to make a choice of the controller parameters, are considered.
Let us consider the closed-loop system equations (4.45) (4.46). The relationships used to choose the high gain k 0 in the control law (4.38) can be based on the requirements placed on the error of the output behavior under either of the conditions that the steady state of...
