A comparison of robust loop shaping designs: an application to an electromechanical actuator

The aim of this paper is to apply some robust loop shaping designs to a testing bench composed of an electromechanical actuator. We present the plant model which takes into account external disturbances and uncertainties such as nonlinearities and unknown parameters. The loop shaping control laws implemented on the testing bench are LQG-loop transfer recovery (LQG/LTR) and LQG/LTR with frequency weighting functions. We compare the results given by each design. The obtained loop shape is used as a measure of the trade-off between closed loop performances and robust stability given by each design