Design of reduced-order weight for H∞ loop shaping method of vertical-type one-link arm - application to gain-scheduling control

H_∞ loop shaping method is known to be one of effective methods, however, there are some drawbacks of H_∞ loop shaping method: The first one is that control performance of the designed controller depends on the weights, however, it is difficult to design the optimal weight. The second one is that the designed controller tends to be higher order. For these drawbacks, the purpose of this paper is to design a reduced-order weight satisfying the specified constraints on the open loop gain characteristic.