Title :
Servo-system design based on LQ and H∞ approaches
Author :
Yao, Wei H. ; Tomizuka, Masayoshi
Author_Institution :
Department of Mechanical Engineering, University of California, Berkeley
Abstract :
This paper presents a servo controller design method based on the state space algorithm[2] for general H∞ problems. A command generator is introduced to determine the feedforward and feedback gains simultaneously by utilizing the standard H∞ controller framework. The design method is applied to a dual-actuator positioning system. A comparison between the LQ and H∞ controllers is discussed. Frequency shaping functions are incorporated into the design method for performance improvement. Simulation results are provided to show the effectiveness of the design method.
Keywords :
Actuators; Bandwidth; Control systems; Design methodology; Linear feedback control systems; Mechanical engineering; Riccati equations; Servomechanisms; State feedback; State-space methods;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
