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Optimal steady-state control for linear non-right-invertible systems

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3 Author(s)
Ambrosino, G. ; Dipt. di Informatica e Sistemistica, Univ. degli Studi di Napoli Federico ; Ariola, M. ; Pironti, A.

The output regulation problem for an LTI plant whose outputs to be regulated are more than the control inputs is considered. For the case of constant references, a two-degree-of-freedom control scheme that minimises a quadratic cost function is presented. This cost function weights the tracking error at steady state. The methodology is based on the singular value decomposition of the plant transfer matrix at s=0. It is then shown how, by introducing some stronger assumptions, it is possible to modify the controller so as to reduce the steady-state control effort at the cost of a higher tracking error. A detailed numerical design example is finally presented

Published in:

Control Theory & Applications, IET  (Volume:1 ,  Issue: 3 )