Robust H∞ controller for high precision positioning system, design, analysis, and implementation
In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust controllers design. v-gap met- ric is utilized to validate the intelligently estimat...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Scientific Research Publishing Inc.
2012
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/1/ICA20120300008_48886087.pdf |
| Summary: | In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust controllers design. v-gap met- ric is utilized to validate the intelligently estimated uncertainty. The robust controllers are formulated within the frame- work of the standard H∞ mixed sensitivity optimization problem. Furthermore, a specially designed integral-H∞ and two-degree-of-freedom 2 DOF H∞ controllers are developed to provide improved robust performance and resolution properties. It is shown that the proposed design schemes are very effective for robust control and precise tracking per- formance of the servo positioning system. |
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