H_INFINITY-OPTIMIZATION BASED LOOPSHAPING CONTROL DESIGN FOR A LABORATORY FLEXIBLE ARM
HOLUB, O.; HURĮK, Z.
Abstract
The paper describes in detail a complete control design procedure for a commercial laboratory servosystem with flexible arm. Covered are: mathemacial modelling using Hamilton principle and Euler-Bernoulli assumpitions, experimental identification in time and frequency domain, design of a noncollocated robust feedback controller using H_infinity optimization and experimental laboratory verification. The lesson learnt might be of use for a person involved in design of control for flexible structures.
Coresponding author e-mail: holubo2[at]fel[dot]cvut[dot]cz
Session: Robust and Adaptive Control
