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Reduced order multirate compensator synthesisA method for synthesizing reduced-order multirate compensators is presented. Necessary conditions for the compensator parameter values to minimize an infinite-time quadratic cost function are derived. An algorithm for finding compensator parameter values which satisfy the necessary conditions is described. This algorithm is used to design several tip position controllers for a two-link robot arm.
Document ID
19920046723
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Mason, Gregory S. (NASA Langley Research Center Hampton, VA, United States)
Berg, Martin C. (Washington, University Seattle, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1991
Subject Category
Cybernetics
Meeting Information
Meeting: 1991 American Control Conference
Location: Boston, MA
Country: United States
Start Date: June 26, 1991
End Date: June 28, 1991
Sponsors: American Automatic Control Council
Accession Number
92A29347
Funding Number(s)
CONTRACT_GRANT: NAG1-1055
Distribution Limits
Public
Copyright
Other

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