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The usual mixed sensitivity H ∞ design is not suitable for servo design, because there exist pole/zero cancellations and the resulting control law will include a pure differentiation factor. This paper presents an alternative design, i.e. the PS/T two block design. It is proved that in the PS/T problem there is no cancellation of the plant poles by the controller. The PS/T problem can take full advantage of the two block design approach: simplicity and intuition. And the use of PS in design is more practical for it represents the system’s disturbance rejection performance. The PS/T two block design details are discussed and illustrated by an example. The results of this paper can also be used for MIMO systems.
The usual mixed sensitivity H ∞ design is not suitable for servo design, because there exist pole / zero cancellations and the resulting control law will include a pure differentiation factor. Ie the PS / T two block design. It is verified that in the PS / T problem there is no cancellation of the plant poles by the controller. The PS / T problem can take full advantage of the two block design approach: simplicity and intuition. And the use of PS in design is more practical for it represents the system’s disturbance rejection performance. The PS / T two block design details are discussed and illustrated by an example. The results of this paper can also be used for MIMO systems.