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An LQG/H controller for a flexible manipulator

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2 Author(s)
Banavar, R.N. ; Dept. of Syst. & Control Eng., Indian Inst. of Technol., Bombay, India ; Dominic, P.

An LQG/H controller synthesis is presented for a flexible one-link manipulator with noncolocated sensing. The challenge of the problem lies in the nonminimum phase characteristics and the ill-conditioned nature of the plant. The inner-loop LQG controller provides adequate damping to the flexible modes and numerically conditions the system while the outer-loop H controller provides stability in the face of unstructured perturbation. With only tip position sensing and using a fourth-order model, a controller is synthesized. It is tested with an eighth-order model of the plant and is found to satisfy both performance and stability requirements

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Control Systems Technology, IEEE Transactions on  (Volume:3 ,  Issue: 4 )