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Robust loop shaping H control of servo systems

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3 Author(s)
Chin Tae Choi ; Robot Team, Res. Inst. of Ind. Sci. & Technol., Pohang, South Korea ; Jong Shik Kim ; Ki Nam Peak

Loop shaping H control with normalized coprime factorization was applied to a servo-motor driven precision positioning system. The high-gain controller was designed to attenuate the position errors caused by friction effects. The non-existence of limit cycle was analyzed, though there is actuator saturation. The designed H control system was experimentally tested in a rotary index table. Results showed its effectiveness to improve position accuracy without any compensation scheme for friction, and robustness to model perturbation and external disturbances

Published in:

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on  (Volume:1 )

Date of Conference:

22-25 Oct 1995