화학공학소재연구정보센터
Automatica, Vol.35, No.5, 877-886, 1999
Slow stable open-loop poles: to cancel or not to cancel
Stable plant poles can either be shifted by feedback, or they can be approximately cancelled by a controller. While it is known that the cancelling design impacts on the transients due to input disturbances, here we show that the alternative, i.e., the shifting design, impacts on closed-loop robustness. In this paper we consider control loops with integral action and show that shifting slow stable real poles, rather than cancelling them, increases the l(1), H-infinity, and the point-wise in frequency norms of the complementary sensitivity. Thus, the choice to either cancel of shift any one staple pole emerges as a design issue that requires a deliberate trade-off between input disturbance response Versus output disturbance response and robustness.