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Title Quantitative Measures of Disturbance Rejection Capabilities for Actuator Dynamics Augmented System
Author Jinseong Park, Youngjin Park, Youn-sik Park
Conference SICE Annual Conference 2013, Nagoya University, Nagoya, Japan, 14-17 Sep. 2013
Year of Pub. 2013
File Quantitative Measures of Disturbance Rejection Capabilities for Actuator Dynamics Augmented System.p
A new approach for quantitative measures of disturbance rejection capabilities when the system is augmented with actuator dynamics is proposed. Advanced research suggested that the measure for disturbance rejection capabilities can be obtained by solving two lyapunov equations to get controllability grammian and disturbance sensitivity grammian. But it can be applied only when the actuator dynamics is sufficiently faster than the system dynamics. Because the conventional measure represents that the required energy to reject disturbance with very slow actuator is very small although it is very difficult to reject the disturbance. To modify measure, the terminal state condition is relaxed from fixed state to free state so that remaining final state energy generated by external disturbance can be included to measure by multiplying final state weighting matrix. Finally, new quantitative measure is applied to In-wheel motor electric vehicle to determine sufficient actuator dynamics to control the heave and pitch motion with in-wheel motor for road disturbance rejection.