A new approach to the robust control synthesis design for the ACC-benchmark problem (undamped, non-colocated spring-mass system)

Author

Abrishamchian, M. ; Afshar, N.

Author_Institution

Dept. of Electr. Eng., Toosi K.N. Univ. of Technol., Tehran, Iran

Volume

6

fYear

1997

fDate

4-6 Jun 1997

Firstpage

3859

Abstract

We consider the ACC benchmark problem of a non-colocated spring-mass system as proposed by Wie and Bernstein (1991) and discuss a method for obtaining a robust compensator. Results of this paper show that by “right” modification of a specially designed robust compensator, the robust performance for the whole family is obtained by considering only the robust performance of extreme plants of the family. More specifically, first, we find a robust compensator for the uncertain system in a nonconservative way. Then, by further modifying the robust compensator for the extreme plants, we obtain the desired compensator for the whole family

Keywords

compensation; control system synthesis; distributed parameter systems; performance index; robust control; transfer functions; ACC-benchmark problem; robust compensator; robust control synthesis; uncertain system; undamped noncolocated spring-mass system; Control system synthesis; Control systems; Force control; Performance gain; Robust control; Robustness; Springs; Transfer functions; Uncertain systems; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.609582

Filename

609582