The time‐optimal control problem for a dc servomotor with an amplitude limitation in the manipulated variable is a complicated nonlinear problem. The problem has been investigated extensively from a theoretical viewpoint. However, little study has been made on the practical digital control system, even for a small‐scale controller using a microcomputer. This paper discusses the time‐optimal position control for a dc servomotor from such a viewpoint, and proposes a design method of the system based on the linear state feedback with the predetermined optimum sequence of a manipulated variable and the optimum sequence of the state trajectory. In other words, the optimal sequence of a manipulation variable and the optimum sequence of the state trajectory are predetermined by the linear programming, and the results are stored in ROM. In the actual control, the optimum sequence is read out from ROM to generate the desired sequence. The linear state feedback can reduce the effects of the external disturbance and the modeling error caused by the system fluctuation. Traditionally, the effects of the temporary disturbance and the modeling error have been a problem from the viewpoint of practical implementation, processing speed, and stability. The control minimizing these effects is the most remarkable feature of the proposed method. This method is suited to the controller using the microcomputer, and can be effective for the reduction of complexity and cost of the controller.
ASJC Scopus subject areas
- Theoretical Computer Science
- Information Systems
- Hardware and Architecture
- Computational Theory and Mathematics