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Application of nonstationary robust control to the coupled three-inertia system benchmark problem and comparison with a gain scheduling control

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1 Author(s)
S. Hara ; Fac. of Sci. & Technol., Keio Univ., Yokohama, Japan

Summary form only given. In the field of positioning control of flexible structures, influences of such structured uncertainties as parameter variation increase are often at the period in the vicinity of stoppage. Taking into account of the characteristics, the author proposed the nonstationary robust control method based on the time-varying criterion function. In order to verify the usefulness of the author's method, this study shows a comparison between the author's method and the gain scheduling H/sub /spl infin// control method of Watanabe et al. (1994) by applying the two methods to the coupled three-inertia system benchmark problem provided by the SICE. The benchmark problem is briefly summarized. Design examples using both the author's method and the gain scheduling control method of Watanabe et al. are shown. The results of the nonstationary optimal control are presented.

Published in:

Advanced Intelligent Mechatronics '97. Final Program and Abstracts., IEEE/ASME International Conference on

Date of Conference:

20-20 June 1997