DocumentCode
2221510
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
fYear
1993
fDate
15-19 Nov 1993
Firstpage
62
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IECON.1993.339105
Filename
339105
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