Incorporating Right Half-Plane Poles and Zeros in a Frequency Domain Design Technique

[+] Author and Article Information
Massoud Sobhani, Suhada Jayasuriya

Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843

J. Dyn. Sys., Meas., Control 116(4), 593-601 (Dec 01, 1994) (9 pages) doi:10.1115/1.2899257 History: Received August 08, 1990; Online March 17, 2008


The frequency domain design methodology developed in Jayasuriya and Franchek (1988) for the synthesis of controllers that maximize the allowable size of an unknown-but-bounded disturbance in the presence of several time domain constraints is revisited. It is shown that (i) the basic ingredients of the methodology stays essentially the same for systems with nonminimum phase zeros and/or unstable poles, and (ii) two modifications can facilitate the loop shaping step. In particular, a nonminimum phase problem may be converted to one of frequency shaping a minimum phase loop; and a prestabilization scheme may be used for unstable systems. Two examples illustrate the proposed modifications with one compared to results obtained by the so called Set-Theoretic (ST) approach.

Copyright © 1994 by The American Society of Mechanical Engineers
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