Design of a robust controller for a grinding system

In designing a compensator for a robust force controlled grinding system several constraints must be considered. It is critical that the grinding force is decoupled from the feed velocity of the system. Therefore, two separate control loops are designed, a feed velocity loop and a force loop. Besides decoupling the force and velocity, a variety of other system performance specifications must be achieved. To aid in the design of the control loops, several parametric plots are used to visualize the effects of various control parameters on the closed-loop system dynamics as well as the coupling of the two loops