Finite Frequency Characterization of Easily Controllable Plant toward Structure/Control Design Integration
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This paper summarizes the authors’ recent results on finite frequency characterization of easily controllable plants under control effort constraint, the aim being the development of a new approach for plant/control design integration. We first show by a motivating example that the closed-loop bandwidth achievable with a reasonable control effort is closely related to the frequency range for which the plant is high-gain and exhibits positive-realness. We then present an LMI characterization of the finite frequency Kalman—Yakubovich—Popov (KYP) lemma and derive several related conditions. Finally, the conditions for the finite frequency positive-real (FFPR) and the finite frequency high-gain (FFHG) properties are shown.
KeywordsKYP lemma Structure/control design integration Finite frequency property Passivity LMI
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