LMI-based robust command shaping against plant perturbations in fast and precise positioning

This paper presents a novel position command shaping approach for the mechanical vibration suppression in mechatronic systems. Although conventional command shaping approaches can suppress the specified mechanical vibrations, mechanical and/or electrical perturbations in plant may deteriorate the motion performance. In this research, a linear matrix inequality (LMI) design framework is applied to eliminate the deterioration in positioning, where a robust command shaping against the plant perturbations can be directly achieved under the constraint of state variables in system. The effectiveness of the proposed shaping has been verified by numerical simulations and experiments using a prototype.