位置制御시스템用 時間遲延 狀態피이드백 制御器 設計

Design of a Delayed State Feedback Controller for Position Control System

For the state feedback controller which measures only partial state variables, a state observer can be used to give the estimates of unmeasurable states. In this paper, the delayed state feedback method instead of the state observer for designing a tracking controller of electro-hydraulic control system is presented. The controller design is based on augmenting the original system by one additional integral and proportional element which compensates for the effect of the integral control and on feeding back the measurable state variables and their delayed values. The performance of the proposed position control system is compared with that of the full state feedback control syste. And then robustness against unmeasurable constant disturbance and parameter variations during operations is also checked.