Title :
The design method of two-degree-of-freedom controller using μ-synthesis and its application to two-mass system
Author :
Matsumoto, Kazunori ; Suzuki, Tatsuya ; Okuma, Shigeru
Author_Institution :
Dept. of Electr. Eng., Nagoya Univ., Japan
Abstract :
This paper presents the design method of two-degree-of-freedom (2 dof) controller system based on the internal structure Firstly, we show the internal structure of the system and derive the condition which clearly shows the equivalence between the disturbance observer based controller and the generalized 2 dof controller. Secondly, we propose the design method of free parameter using μ-synthesis taking into account the structure of the system and the tuning of the Q so as to satisfy the derived conditions. Finally, we show some simulation results of velocity control of a 2-mass system and confirm the effectiveness of the proposed method
Keywords :
control system synthesis; observers; tuning; velocity control; μ-synthesis; 2-DOF controller design method; 2-mass system; disturbance observer based controller; generalized 2-DOF controller; internal structure; velocity control; Control system synthesis; Control systems; Design methodology; Filters; Motion control; Robust control; Robust stability; Signal synthesis; Sufficient conditions; Velocity control;
Conference_Titel :
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location :
Mie
Print_ISBN :
0-7803-3219-9
DOI :
10.1109/AMC.1996.509317
