Pole placement with sensitivity function shaping using 2nd order digital notch filters |
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Authors: | Hynek Procházka Ioan Doré Landau |
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Affiliation: | Laboratoire d'Automatique de Grenoble (CNRS-INPG-UJF)—ENSIEG-Domaine Universitaire—BP. 46, 38402 St. Martin d'Hères—Cedex, France |
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Abstract: | This technical note deals with the design of robust digital controllers using pole placement with sensitivity shaping by means of the use of digital notch (band-stop) filters. The use of this type of filters drastically simplifies the effective shaping of the sensitivity functions and the resulting procedure competes with the procedure based on the use of Q-parameterization combined with convex optimization (Automatica 35 (1999) 1111). The feasibility of the technique is illustrated by its application to the control of a very flexible arm. |
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Keywords: | Digital notch filter Robust control Pole placement Sensitivity function shaping |
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