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Control of single-link flexible beam using Hankel-norm-based reduced-order model

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2 Author(s)
Krishnan, H. ; Dept. of Mech. & Production Eng., Nat. Univ. of Singapore ; Vidyasagar, M.

The single-link flexible beam is an infinite-dimensional system. Many researchers have proposed controlling such a beam using an approximate model consisting of a finite a number of modes. But the number of modes that one should retain in the model for the purpose of controller design is not clear. The authors begin with a full-order model containing all the modes of the system within the bandwidth of the actuator and sensors. Control design based on such a model would result in a high-order controller that may not be feasible to implement in practice. Hence, a low-order model for the system is obtained using Hankel-norm minimisation. This procedure gives an excellent reduced-order model in the sense that the reduced model is close to the original system in the graph topology. A controller is designed for the flexible beam on the basis of the reduced-order model thus obtained. Experimental results show that a controller designed for the reduced-order model guarantees effective vibration control of the flexible beam

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:145 ,  Issue: 2 )

Date of Publication:

Mar 1998

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