Title :
H∞ control of a flexible arm: coprime factors design using the gap metric
Author :
Duc, Gilles ; Ballois, Sandrile Le
Author_Institution :
Supelec-Service Automatique, Gif-sur-Yvette, France
Abstract :
A H∞ controller is designed for a one-degree-of-freedom flexible arm, whose load at the extremity can take 3 different values. The loop-shaping design procedure of McFarlane-Glover (1992) is used together with the gap metric of Vinnicombe (1993), the later allowing to a priori insure the robust stability and to select the design parameters
Keywords :
H∞ control; algebra; closed loop systems; control system synthesis; manipulators; robust control; H∞ control; coprime factors; design parameters; flexible arm; gap metric; loop-shaping design; manipulator; robust stability; Algebra; H-infinity control; Manipulators; Robustness;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381305
