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H design using normalized coprime factors: an application to an electromechanical actuator

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5 Author(s)
Malasse, O. ; CNRS, Vandoeuvre-les-Nancy, France ; Zasadzinski, M. ; Iung, C. ; Hayar, H.
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Applies an H control law to a testing bench composed of an electromechanical actuator. The authors present the plant model which takes into account external disturbances and uncertainties such as non-linearities and unknown parameters. The H design is based on normalized coprime factor plant. To define the frequency weighting functions, a loop shaping procedure is used to allow the specification of performance and robust stability characteristics. The loop shape is used as a measure of the trade-off between closed loop performances and robust stability. The obtained results are compared with those given by LQG and LQG/LTR designs

Published in:

Control Applications, 1994., Proceedings of the Third IEEE Conference on

Date of Conference:

24-26 Aug 1994