Journal ArticleDOI
A loop-shaping design procedure using H/sub infinity / synthesis
Duncan McFarlane,Keith Glover +1 more
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In this article, a design procedure is introduced which incorporates loop shaping methods to obtain performance/robust stability tradeoffs, and a particular H/sub infinity / optimization problem to guarantee closed-loop stability and a level of robust stability at all frequencies.Abstract:
A design procedure is introduced which incorporates loop shaping methods to obtain performance/robust stability tradeoffs, and a particular H/sub infinity / optimization problem to guarantee closed-loop stability and a level of robust stability at all frequencies. Theoretical justification of this technique is given, and the effect of loop shaping on closed-loop behavior is examined. The procedure is illustrated in a controller design for a flexible space platform. >read more
Citations
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Journal ArticleDOI
Redundancy implies robustness for bang-bang strategies
TL;DR: In this paper, the authors propose to add bang arcs in the form of needle-like variations of the control to ensure robustness properties to bang-bang strategies, for general nonlinear control systems.
Book ChapterDOI
A Model Reference Based 2-DOF Robust Observer-Controller Design Methodology
TL;DR: Two-degree-of-freedom (2-DOF) compensators are characterized by allowing a separate processing of the reference inputs and the controlled outputs and may be characterized by means of two stable Youla parameters.
Book ChapterDOI
H-infinity as a Tool for Control Assessment in Mechatronics.
Raoul Herzog,Hannes Bleuler +1 more
Proceedings ArticleDOI
Challenges of robustness/transparency of scaled bilateral teleoperation systems
TL;DR: Challenges of robustness/transparency of scaled bilateral controllers are designed based on the framework bilateral generalized predictive controller and Hinfin loop shaping procedure design techniques, which allows a convenient means to achieve robustness for large time-delay margins, variation of force scaling factors and uncertainties in master and slave modelling.
Journal ArticleDOI
Iterative parameter optimization for multiple switching control applied to a precision stage for microfabrication
TL;DR: An iteration procedure to derive optimal parameters for a multiple switching control architecture that can optimize the mechanism parameters, such as the number of controllers and the prediction horizon, is proposed.
References
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Book
Linear Optimal Control Systems
Huibert Kwakernaak,Raphael Sivan +1 more
TL;DR: In this article, the authors provide an excellent introduction to feedback control system design, including a theoretical approach that captures the essential issues and can be applied to a wide range of practical problems.
Journal ArticleDOI
Multivariable feedback design: Concepts for a classical/modern synthesis
John Doyle,Gunter Stein +1 more
TL;DR: This paper presents a practical design perspective on multivariable feedback control problems and generalizes known single-input, single-output (SISO) statements and constraints of the design problem to multiinput, multioutput (MIMO) cases.
Journal ArticleDOI
Feedback and optimal sensitivity: Model reference transformations, multiplicative seminorms, and approximate inverses
TL;DR: In this article, the problem of sensitivity reduction by feedback is formulated as an optimization problem and separated from the problems of stabilization, and the feedback schemes obtainable from a given plant are parameterized.
Analysis of feedback systems with structured uncertainties
TL;DR: In this article, a general approach for analysing linear systems with structured uncertainty based on a new generalised spectral theory for matrices is introduced, which naturally extend techniques based on singular values and eliminate their most serious difficulties.
Book
Multivariable Feedback Design
TL;DR: In this article, a comprehensive and unified view of modern multivariate feedback theory and design is presented, where balancing techniques with theory, the objective throughout is to enable the feedback engineer to design real systems.