Title :
Controller design of two-mass-spring system based on BMI optimization
Author :
Kawanishi, M. ; Yada, T. ; Sugie, T.
Author_Institution :
Dept. of Mech. Eng., Kobe Univ., Japan
Abstract :
This paper gives a design example of multipurpose controllers for two-mass-spring systems based on BMI optimization technique. The obtained controller achieves (a) tracking with zero steady-state error, (b) pole placement in a prescribed region, and (c) optimal H∞ performance, simultaneously in the presence of physical parameter uncertainties. In addition, its effectiveness is demonstrated via simulations and experiments
Keywords :
H∞ control; control system synthesis; distributed parameter systems; matrix algebra; optimisation; pole assignment; robust control; servomechanisms; state-space methods; BMI optimization; bilinear matrix inequalities; multipurpose controllers; optimal H∞ performance; parameter uncertainties; pole placement; tracking; two-mass-spring system; Control system analysis; Control system synthesis; Control systems; Design optimization; Robust control; Servomechanisms; State feedback; Steady-state; Torque control; Uncertain systems;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.573437
