Nonparametric identification and robust H∞ controller synthesis for a rotational/translational actuator

In this paper an H_infin methodology based on nonparametric identification is developed for RTAC benchmark problem. In this nonlinear system, it is required to design a controller to satisfy stabilization and disturbance rejection objectives in spite of limited control effort. In order to design an H_infin controller, first, the nonlinear system is estimated as a nominal linear system. Moreover, the deviation of the system from the model, which involves nonlinearities, uncertainties, and disturbances, is encapsulated by a multiplicative uncertainty. Then, a robust controller is designed by developing a mixed-sensitivity problem to satisfy all performance requirements. Simulation results illustrate the tracking performance achievements