Systems Control Group
University of Toronto
Toronto, Ontario
Canada M5S 3G4
Abstract – The problem of finding an
“optimal controller to solve the servomechanism problem, which results in
a closed loop system which has a desired transient response, with negligible
cross-channel interaction, without necessarily using high-gain control
methods, is considered in this talk for the case of discrete LTI
systems. Subject to fundamental
limitations on achievable performance, this objective is achieved by
introducing a new cheap-control quadratic performance index that has the
desired transient response characteristics embedded within it. A study of the fundamental limitations
for error tracking/regulation are then carried out to obtain explicit
expressions for the limiting performance cost associated with the
servomechanism problem as the weight on the control energy tends to zero. These limitations can be characterized
by the system order, the number of the outputs, the number of the
system’s transmission zeros, and the location of the system’s
non-minimum phase transmission zeros.
Application of the new performance index to various industrial system
examples are given.
3:30 – 4:30
p.m.