Design of Multivariable Linear Servo-System Realizing Small Transient Response Errors

In this paper, the transient response characteristic of a mltivariable servo-system which tracks p-1th polynomials of time is investigated. By utilizing integral-type controllers and constant gain feedback controllers, zero steady state error can be guaranteed and the steady state values can be made insensitive to the variations of plant parameters if the resultant closed loop system remains stable. However, the transient responses are not always satisfactory in general even if the closed loop poles are assigned to desired locations by state feedback. The transient response errors, therefore, are derived as functions of the feedback gain matrix. A method which makes these errors small by adjusting the redundant parameters of the feedback gain matrix is presented. Two examples are given to verify the effectiveness of this procedure.