| Summary: | 碩士 === 國立成功大學 === 造船工程學系 === 86 === In this paper, we realize H( control theory with Model-Based
method to apply more easily. Inthe concept of the weighting
matrices, we offer a way in series from the concept of loop
shapin, and regulate the sensitivity matrices, the complementary
sensitivity matrices, and the controenergy matrices to achieve
the desired performance of the closed-loop system. We can
constrict the H( norm from the system input to the controlled
system output based on the Model-based H(controller we
offer. So we can get the system with both rejecting the
disturbance and achieving the desired performance.
Because of H( control is powerful to the system uncertainty
(with disturbance), but the desired performance of the
controlled system can't be certainly achieved, we try to develop
H(/LTR from LQG/LTR theory. However the target feedback loop has
been developed two kinds of design method:（一）Loop transfer
recovery at the plant input and（二）Loop transfer recovery at
the plant output, and compare the difference above. Loop shaping
and H(/LTR is the same originally to reject the disturbance
and achieve the desired performance. Two
kinds of the target feedback loop we offer in the paper is
discussed the system response of the noise at the plant output
and the disturbance at the plant input, and we discuss loop
transfer recovery in the method of two designed gain matrices
with H( controller. The control gain matrices K and observer
gain matrices H can be solved by two Riccati equations. In the
paper, we offer the design method in series of selecting the
weighting matrices to ensure the target feedback loop will be
recovered. So the closed-loop system can achieve the desired
performance and reject the disturbance at the same time.
In the paper, we offer two simulations to express the design
process of H(/LTR, and ensure the controller can be realized
and powerful.
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