Design of motion control systems via H/sub /spl infin//-partial state feedback

This paper presents a design of motion control systems via H/sub /spl infin//-partial state feedback. There are some difficulties such as limitation of the plant poles at the origin or pole/zero cancellations in the design of motion control with the H/sub /spl infin//-mixed sensitivity problem. These difficulties can be solved by using partial state feedback control when the plant internal states are available. Partial state feedback control, which uses measurable states besides outputs, has the advantage that the number of pole/zero cancellations can be reduced.<
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