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COMMENTS, WITH REPLY, ON 'A MULTIVARIABLE GENERALIZED SELF-TUNING CONTROLLER WITH DECOUPLING DESIGN' BY S. J. LANG, ET AL.

par Kinnaert, Michel
Référence IEEE transactions on automatic control, AC-32, 12, page (1127-1128)
Publication Publié, 1987-12

Article révisé par les pairs

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Résumé :

The commenter argues that the choice of weighting matrices in the paper by S. J. Lang et al. , which is used for nonminimum phase systems, appears to be erroneous. The closed-loop system equation corresponding to this choice is given. The process zeros have been cancelled, which is inconceivable for nonminimum-phase zeros. The simulation results cannot emphasize this point because the simulated system has no nonminimum-phase zeros. In replying, the authors state that for the nonminimum-phase case the weighting matrices P and Q are chosen as indicated, and that in this case no process zeros are cancelled.