Practical positioning control method of flexible structures using nonstationary robust regulator

In this method, the closest trajectory input derived a priori from the nonstationary optimal control theory to the object distance is used as a feedforward control and the positioning error at the terminal point is compensated by the nonstationary robust feedback control to which it is smoothly switched. By applying the method to a positioning control of a flexible structure, the usefulness of the method is verified theoretically and experimentally. Moreover, from a comparison between the nonstationary robust control and a conventional robust servo control for a positioning control of a two-mass-spring system, the advantage of the former one is demonstrated