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Vol: 48(62) No: 1 / March 2003 Computer Aided Design of Two-Degree-Of-Freedom (2DF) Controllers Zs. Preitl Department of Automation and Applied Informatics, Budapest University of Technology and Economics, MTA-BME Control Research Group, H-1111, Budapest, Goldmann Gy. tér 3., Hungary, e-mail: preitl@avalon.aut.bme.hu T. Levendovszky Department of Automation and Applied Informatics, Budapest University of Technology and Economics, MTA-BME Control Research Group, H-1111, Budapest, Goldmann Gy. tér 3., Hungary, e-mail: tihamer@avalon.aut.bme.hu Keywords: 2DF controller, CAD method, MATLAB program, PID controller, sensitivity analysis. Abstract The use of two-degree-of-freedom (2DF) controllers is justified when good performance is required both concerning servo and disturbance rejection. The paper presents main ides regarding design aspects and a CAD methodology and program for 2DF controller. Connections between 2DF and conventional controllers with additional filters are presented. An example compares the performances that can be achieved using a 2DF controller and a classical PID controller. The sensitivity of the control structure is studied based on possible modifications of the plant’s parameters. References [1] Horowitz, I.M., Synthesis of of Feedback Systems , Academic Press, 1963. [2] Åström, K.J., Wittenmark, B., Computer Controlled Systems, Theory and Design, Prentice Hall, 1997. [3] Lantos, B., Irányítási rendszerek elmélete és tervezése, Akadémiai Kiadó, Budapest, 2001 (in Hungarian). [4] Hetthéssy, J., Két szabadságfokú polinomiális tervezés / bevezetés, Budapest University of Technology and Economics, 2000 (in Hungarian). [5] Preitl, Zs., Levendovszky T., Specific Aspects in Design Of Two-Degree-Of-Freedom (2-DF) Controllers, (paper presented at the VIII th Edition of “ZILELE ACADEMICE TIMISENE”, Timişoara, 22-23 mai 2003 (in Romanian). [6] * * * : Matlab. User’s Guide, Mathworks Inc., Natick, MA, 1998. [7] Taguchi, H., Araki, M., Two degree of fredom PID controllers. Their functions and optimal tuning, Preprints of IFAC Workshop on “Digital Control: Past, Present and Future of PID Control”. Terrassa, Spain, pp. 154 – 159, 2000. [8] Åström, K.J., Hägglund, T., PID Controller Theory, Design ant Tuning, Instrument Society of America, Research Triangle Park, 1995. [9] Lutz, H. , Wendt W., Taschenbuch der Regelungstechnik. Libri Verlag, 1998. [10] Middleton, R.H., Goodwin, G.C., Digital Control and Estimation, A Unified Approach, Prentice Hall, 1990. |