Risk-sensitive tracking control of uniaxial electric shaking tables with preview action

This paper proposes a design method of tracking control for electric shaking tables via the risk-sensitive stochastic optimal control theory with preview action. The reaction force caused by the dynamic motion of a test structure subjected to seismic disturbances can be regarded as a random disturbance for the shaking table. The mission of our tracking controller is to reproduce the earthquake ground motions with high fidelity using preview information. An augmented discrete-time stochastic system of an incremental state and an incremental tracking error corresponding to the shaking table is constructed. The system includes the reaction force term due to the motion of the test structures modeled by a white Gaussian noise. Combining this system with a command generator for making the preview information, a risk-sensitive stochastic optimal control is constructed for the resultant system.