Title :
Robust controller design for a dual-stage positioning system
Author :
Yao, Wei H. ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
An important objective of positioning systems is to follow a desired path precisely under the presence of disturbance and plant uncertainty. To achieve this objective, we examine a dual-actuator configuration. An H∞ controller is designed to guarantee closed-loop robustness. Furthermore, we adopt a two degree of freedom control scheme to obtain a good transient response. Simulation results are provided to show the effectiveness of the design method
Keywords :
control system synthesis; linear systems; optimal control; position control; stability; 2-d.o.f. control; H∞ controller; disturbance; dual-actuator configuration; dual-stage positioning system; guaranteed closed-loop robustness; plant uncertainty; robust controller design; transient response; Actuators; Adaptive control; Control systems; Disk drives; Frequency; Robust control; Robustness; Servomechanisms; State-space methods; Trajectory;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-0891-3
DOI :
10.1109/IECON.1993.339105
