Control of Zeros and Poles in Problems of Synthesis of Regulation Systems. Part I. Compensation Approach

A highly important place in the theory and practice of automatic systems occupy the problems of synthesis of automatic regulation systems (ARS) based on the requirements for the dynamic quality of regulation processes. For class of linear stationary ARS such requirements are imposed upon the type and parameters of its transition characteristic which is uniquely determined by its transfer function (TF). In this connection the setting of problem of ARS synthesis with desired TF, corresponding to the given amplification coefficient, zeros and poles of the synthesized system is regularity. The given problem is worth while to call as the control problem of zeros and poles of ARS. In the present paper consists into two parts, the questions of control of zeros and poles ARS, which are important for engineering applications are considered. A critical analysis of the known compensation and compensation-modal regulation schemes is given. And also the new circuit solutions combining the functionality possibilities of compensation and modal approaches are proposed. The first part of the article the effect of compensation of zeros and poles of control objects in ARS is analyzed. The understanding of this effect gives the representation of the system of canonical structure of R. Kalman, according to which the compensation of zeros and poles of object does not mean their physical liquidation. As a result of compensation, they become the poles of its unobservable and unmanageable parts, which will be tell upon the regulation processes in the conditions of disturbances of the state of control object. The given effect and its negative results are clearly detected in the classical method of constructing of controllers on a priori given (desired, reference) TF of closed ARS. The influence of the factor of non-minimal phase zeros on the dynamics of control systems is studied. The effect of negative ejection in the transition characteristic of the system is described and its quantitative assessment is given for the case of a single real right zero. In the second part of the article the well-known methods for ARS synthesis with desired TF, based on use of polynomial calculus apparatus are considered and analyzed. New compensatory modal methods which may be of interest in engineering applications are proposed.