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Control of a single-link flexible beam using a Hankel-norm-based reduced order model

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2 Author(s)
Krishnan, H. ; Dept. of Electr. Eng., Waterloo Univ., Ont., Canada ; Vidyasagar, M.

A single-link flexible beam is an infinite-dimensional system. A full-order model containing all the modes of the system within the bandwidth of the actuator and sensors is presented. Such a model would result in a high-order controller which may not be feasible to implement in practice. Hence, a low-order model for the system is obtained using Hankel norm minimization. A controller is designed for the beam on the basis of the reduced-order model thus obtained. Experimental results show that a controller designed for the reduced-order model guarantees effective vibration control of the flexible beam

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988