Optimal Control Design Advantages Utilizing Two-Degree-of-Freedom Controllers

Abstract

The purpose of this study was to investigate and describe the differences between a one-degree-of-freedom (I-DOF) controller, in which a controller is placed in a single location in the control loop, and a two-degree- of-freedom (2-DOF) controller, in which two separate controllers are designed -- one in the feedback loop and the other as a prefilter in the forward loop. The approach involved summarizing the major rules governing loop shaping for performance and robustness in the I-DOF case and then extending the concepts to the 2-DOF case. H2 optimization was utilized to perform several types of SISO examples and one MIMO example to verify the concepts. In all cases, the 2-DOF controller exhibited superior tracking performance over a wide range of plant disturbances and measurement noises compared to the 1-DOF model.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1993
Accession Number
ADA273839

Entities

People

  • Michael J. Stephens

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • C4I
  • Energy and Power Technologies
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Bandwidth
  • Closed Loop Systems
  • Computational Science
  • Control Systems
  • Differential Equations
  • Equations
  • Feedback
  • Frequency Response
  • High Gain
  • Low Pass Filters
  • Measurement
  • Multiple Input Multiple Output
  • Steady State
  • Three Dimensional
  • Transfer Functions
  • Two Dimensional

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Control Systems Engineering.