C-code implementation of robust μ-synthesis-controllers for industry applications

This paper presents the investigation results and an implementation example of robust mu-controllers for axes of milling machines. The challenge to transfer modern control methods from research to industrial application is tackled by showing necessary steps performed for the implementation. Constraints inherently given by a real machine control unit are considered and treated. Two test rigs, a two-mass-oscillator driven by a synchronous motor and a hydrostatically supported z-axis of a milling machine are presented. Robust mu-controllers are designed and the developed methods are applied. The mu-controller for the first test rig is implemented manually in C-Code on a real industrial control unit. Due to the higher order of the mu-controller for the z-axis, the implementation is realized on a dSPACE System. Experimental results are presented and compared with state of the art technologies.