μ-synthesis of a flexible mechanical servo system

This paper considers a control design nethodology for non-rigid mechanical servo mechanisms with parametric uncertainty. A high bandwidth control design problem for a flexible servo system with varying resonance frequency has been solved using parametric uncertainty modeling and H_∞ design techniques. To obtain guaranteed robustness for the varying resonance frequency and other parameter variations as well, μ-synthesis is applied using the D-K iteration scheme. The μ-based controller has been implemented in a Digital Signal Processor. A fast servo behavior has been obtained which shows robust performance for the varying resonance frequency.