Design of stable parallel feedforward compensator and its application to synchronization problem

• Hongkeun Kim ^[1] ; Seongjun Kim ^[4] ; Juhoon Back ^[2] ; Hyungbo Shim ^[3]
  1. [1] Korea University of Technology and Education

     Korea University of Technology and Education

     Corea del Sur

     
  2. [2] Kwangwoon University

     Kwangwoon University

     Corea del Sur

     
  3. [3] Seoul National University

     Seoul National University

     Corea del Sur

     
  4. [4] Agency for Defense Development,Republic of Korea

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• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 64, 2016, págs. 208-216
• Idioma: inglés
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• Resumen

  • This paper addresses the design problem of a stable parallel feedforward compensator V for a given SISO LTI plant P (possibly being of non-minimum phase and/or having relative degree greater than one). The objective of the problem is that their parallel interconnection P+V becomes minimum phase having relative degree one. Based on the classical results of simultaneous stabilization, a necessary and sufficient condition for solving the problem is presented as well as a design procedure for constructing such a compensator. The proposed feedforward compensator allows the control system to have the three useful features: (1) the ability that assigns the zeros of P+V to a region of complex numbers having arbitrary negative real parts, (2) infinite gain margin property of P+V controlled by a static output feedback, and (3) block diagonal structure of P+V. These features are extensively exploited in the synchronization problem of multi-agent systems to achieve arbitrary fast convergence rate and to have the synchronized trajectory independent of the initial conditions and parameters of the involved dynamic controllers.