Title :
A joint design method for achieving robust performance - experimental study in 2-mass system
Author :
Wakayama, N. ; Yubai, K. ; Hirai, J.
Author_Institution :
Fac. of Eng., Mie Univ., Tsu
Abstract :
Joint design methods are based on an iterative scheme of model identification and controller design associated with each other. This paper proposes a new joint design method based on GIMC structure by carrying out on one-shot closed loop experiment. The proposed joint design method evaluates the performance degradation from the nominal performance explicitly so as to achieve the nominal performance for the actual plant. The identification of dual Youla-parameter R and the design of Youla-parameter Q are related to each other under the same control objective. Youla parameter Q is implemented in GIMC structure proposed by Zhou. The effectiveness of the proposed design method is verified by an actual control system
Keywords :
closed loop systems; control system synthesis; iterative methods; parameter estimation; robust control; 2-mass system; controller design; dual Youla-parameter identification; generalized internal model control structure; iterative scheme; joint design; model identification; nominal performance; one-shot closed loop experiment; performance degradation; robust performance; single-input single-output case; Design methodology; Robustness;
Conference_Titel :
Advanced Motion Control, 2006. 9th IEEE International Workshop on
Conference_Location :
Istanbul
Print_ISBN :
0-7803-9511-1
DOI :
10.1109/AMC.2006.1631704
