H/sub /spl infin// control of a flexible arm: coprime factors design using the gap metric

A H/sub /spl infin// controller is designed for a one-degree-of-freedom flexible arm, whose load at the extremity can take 3 different values. The loop-shaping design procedure of McFarlane-Glover (1992) is used together with the gap metric of Vinnicombe (1993), the later allowing to a priori insure the robust stability and to select the design parameters.<
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