The Tracking H Controller

The tracking control problem differs from the regulation problem because controller performance depends not only on the plant parameters, but also on the tracking command profile (its rate, acceleration, etc.). It is useful to formulate the tracking problem such that the requirements are met by definition. One important requirement for tracking systems is to maintain zero steady-state error for constant-rate command. Upgrading the plant with an integrator can satisfy this requirement, as was already discussed in the LQG controller design in Chapter 11. An Hm tracking controller with an integral upgrade is presented in Fig. 12.4. For this configuration the design approach is similar to the LQG tracking controller design presented earlier, see Section 11.9.

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