H∞를 이용한 필터 및 제어기의 개발

Abstract

미지의 예기치 않은 noise에 의해 영향을 받은 시스템을 제어하기는 쉽지 않다. 그리고 강인성과 low performance measure를 가진 제어 시스템을 설계하기는 더욱 어렵다. 이러한 문제를 해결하기 위한 시도는 계속되어 왔으며 이 중 Kalman Filter는 system noise 및 measurement noise가 오직 gauss distribution을 가지고 noise에 대한 정보가 있을 경우 optimal filter 임이 알려져 있다. [1-3]. 그러나 실제로 이러한 noise가 반드시 gauss distribution을 갖는 noise라고 할 수 없으며 또한 noise에 대한 정보가 전혀 없을 때는 optimal filter를 설계할 수 없으므로 입·출력이 bounded할 수 있도록 suboptimal 개념의 새로운 제어기의 설계가 필요하다. 본 논문에서는 noise에 대한 정보가 필요없고, 어떠한 noise라는 가정이 없는 H infinity 제어기 구성이 강인하고 low performance measure를 가진 제어기임을 실험을 통해서 보여주고, 산업현장에 응용할 수 있는 가능성을 제시한다.

In the field of control and instrumentation, it is very difficult to control system which is affected by unknown and unexpected noise. Therefore, if we can design controller with robustness and small performance measure, it will be used extensively in the industrial application. Although it may be hard for designers to implement such a controller, it has been studied continuously for several decades. As a result, recently a few of control design methods give a solution with a good performance and robustness[4],[6-9]. We suggest that H infinity controller can be applied extensively in the industrial field that is affected by extremely deteriorated noise source. In this paper after constructing the Inverted Pendulum as an experimental apparatus, we design PID, Fuzzy, and H∞ controller to compare its characteristic results. If the similar design method with this paper is applied to the industrial filed, it may give a good solution with robustness and low performance areas can be shown in the field of signal processing, motor control, sensor interfacing, robot control.

In the field of control and instrumentation, it is very difficult to control system which is affected by unknown and unexpected noise. Therefore, if we can design controller with robustness and small performance measure, it will be used extensively in the industrial application. Although it may be hard for designers to implement such a controller, it has been studied continuously for several decades. As a result, recently a few of control design methods give a solution with a good performance and robustness[4],[6-9]. We suggest that H infinity controller can be applied extensively in the industrial field that is affected by extremely deteriorated noise source. In this paper after constructing the Inverted Pendulum as an experimental apparatus, we design PID, Fuzzy, and H∞ controller to compare its characteristic results. If the similar design method with this paper is applied to the industrial filed, it may give a good solution with robustness and low performance areas can be shown in the field of signal processing, motor control, sensor interfacing, robot control.