Decoupling control via all stabilizing controller with limiting properties of LQ control and its application to a mechanical system

Abstract

In this paper, decoupling control via all stabilizing controller with limiting properties of LQ control and observers is proposed. The all stabilizing controller has disturbance decoupling properties, a good tracking performance and decoupling control property by using the proposed method. Moreover, the proposed method is applied to decoupling control of a mechanical system, and the effectiveness of the method is confirmed by comparative experiments.