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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Robust Control of Time Delay Systems
TL;DR: In this paper, the authors presented the design of both H ∞ Loop Shaping Control (HLSC) and Internal Model Control (IMC) strategies for linear time delay systems.
Learning and Reacting with Inaccurate Prediction: Applications to Autonomous Excavation
TL;DR: In this article, the use of iterative learning control is proposed to map the repetitive components of excavation forces into feed-forward predictive compensation commands to improve the disturbance rejection of a control system beyond the limitations of feedback.
Proceedings ArticleDOI
Design and robustness evaluation of an H ∞ loop shaping controller for a 2DOF stabilized platform
TL;DR: In this paper, the authors have proposed that linear identification methods may be used to establish a linear model for a particular load condition and a robust controller is designed using H ∞ based method, so that the designed controller may be robust against other load variations.
Journal ArticleDOI
ℋ∞-Controller Design Methods Applied to One Joint of a Flexible Industrial Manipulator
TL;DR: In this paper, a mixed-∋∞ design of a flexible joint of an industrial manipulator using ℋ ∞ design methods is presented, and four resulting controllers are compared to a standard pid controller where only the actuator position is measured.
Journal ArticleDOI
Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller:
TL;DR: Mixed sensitivity H∞ control is proposed to balance the rotary double inverted pendulum system to ensure the robust stability and enhance the time domain performance of the system under uncertainties and disturbances.
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.