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This paper presents a H∞ speed controller based on internal model theory. The output point mixed sensitivity method is adopted to restrain the disturbance of servo system and guarantee the robust stability. A proximate internal model is introduced into disturbance path when solving the standard H∞ control problem. It can simplify the design and satisfy the requirement of servo performance. A H∞ load disturbance observer is designed which achieves the disturbance cancellation and guarantees robust stability. Simulation results show that the system has improved performance by the methods proposed in this paper.
Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE (Volume:1 )
Date of Conference: 2-6 Nov. 2003