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A Study on Quadratic Stability of Optimal Regulators under Gain Adjustment
Takayuki Inui,Tomomichi Hagiwara 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The objective of this paper is to show an online adjustment method of the state feedback gains for multiinput multi-output optimal regulators via the quadratic stability arguments. We first give a region of state feedback gains containing the nominal optimal gain such that quadratic stability is ensured for all time-invariant state feedback gains in the region. We then show that under some mild conditions, quadratic stability is retained for arbitrary time-varying adjustment of the state feedback gain within this region via the concept of strong uniform complete observability.
Kenichi Morioka,Tomomichi Hagiwara 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper is concerned with caus allinear periodically time-varying(LPTV) scaling for stability analysis. The effectiveness of such a scaling technique was first shown for the robust stability analysis of linear sampled-data systems, and it was the next ended to a more general technique called noncausal LPTV scaling. Even though noncausal LPTV scaling has been shown to be more effective than causal LPTV scaling in such a context, this paper aims at showing that causal LPTV scaling can be applied even to sampled-data systems with sector nonlinearities. A numerical example is also studied to compare the effectiveness with an other method based on the conventional multiplier technique.