Enhanced μ-synthesis through improved D-scalings

Author

Adams, Richard ; Chrétien, Jean-Pierre ; Spillman, Mark

Author_Institution

ONERA-CERT, Toulouse, France

Volume

3

fYear

1995

fDate

13-15 Dec 1995

Firstpage

3121

Abstract

An algorithm for finding improved D-scale transfer functions for robust control synthesis is presented. Generalized Popov multipliers and a linear matrix inequality (LMI) multiplier formulation are used to find D-scalings of polynomial order and arbitrary structure which provide advantages over the normal curve-fit scalings in a D-K iteration. The two primary benefits are enhanced convergence properties and the capability to handle repeated scalar block uncertainty. A flexible manipulator control example illustrates the advantages of the new D-scaling approach

Keywords

control system synthesis; convergence of numerical methods; iterative methods; manipulators; matrix algebra; robust control; transfer functions; μ-synthesis; D-K iteration; D-scale transfer functions; D-scalings; enhanced convergence properties; flexible manipulator control; generalized Popov multipliers; linear matrix inequality multiplier formulation; normal curve-fit scalings; repeated scalar block uncertainty; robust control synthesis; Control systems; DC motors; Equations; Geometry; Manipulator dynamics; Matrices; Polynomials; Robustness; State-space methods; Transfer functions;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1995., Proceedings of the 34th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

0-7803-2685-7

Type

conf

DOI

10.1109/CDC.1995.478625

Filename

478625