연산시간을 고려한 이산시간 LQG 제어기의 궤환 특성
지산간호보건전문대학논문집 1994년 12권 0호 p.307 ~ 320
KMID : 0613219940120000307
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이상관 ( ) - 지산전문대학 전자계산과
신문걸 ( ) - 지산전문대학 전자계산과
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Abstract
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Feedback properties of discrete-time LQG controllers which utilize the optimal state-predictors to compansate L-step computation delays are discussed.
First, we derive right and left coprime factorizations of the transfer function matrix of the controller. Using these . factorizations, we obtain simple expressions of the sensitivity matrices and the complementary sensitivity matrices at the input and the output of the plant, which clarify effect of the computation delays and the imperfect observation. Furthermore, these expressions are used to show that duality between the feedback properties at the input and those at the output holds for L ≥ 1 and to identify the asymptotic feedback properties obtained by the loop transfer recovery procedures. A simple numerical example is presented to illustrate the feedback properties.
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KeyWords
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원문 및 링크아웃 정보
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등재저널 정보
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