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In this paper, we study the problem of stabilizability of LTI systems over both the forward (from the controller to the plant) and feedback (from the sensor to the controller) channel. We adopt the additive white noise (AWN) channel with a prescribed power constraint as our channel model. For first order systems, we derive explicitly the necessary and sufficient conditions for stabilizability and...
This paper studies the optimal tracking performance of multiple-input multiple-output (MIMO), finite dimensional, linear time-invariant discrete-time systems with a power-constrained additive white noise (AWN) channel in the feedback path. We adopt the tracking error power as a measure of the performance and examine the best achievable performance by all two-parameter stabilizing controllers. In the...
Disturbance observer (DOB)-based controller design is one of the most popular methods in the field of motion control. This paper presents a design method for the disturbance observers to satisfy closed loop performance specifications, provided that the main feedback controller is known. Unlike the conventional methods, the proposed DOB design method takes into account the influence from not only disturbance...
This paper establishes relationships between Bode type sensitivity and complementary sensitivity integral relations and optimal tracking and regulation performance, where the latter are defined in quadratic measures. These relationships link together frequency and time domain performance constraints, and further lead to new insight into these two independent areas of research.
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