Robust control of linear DC motor with flexibility

The authors have developed a wire-driven system with a linear type actuator. A wire-driven system is difficult to use because of its unknown dynamics and uncertainties. In this study, a wire-driven system was modeled as a 2-mass system. After the system identification, the H/sub /spl infin controller was designed for this system which has a pole at the origin of the complex plane. This one-degree-of-freedom control system had good feedback properties but large over shoot, so a two-degree-of freedom control system was introduced. This control system showed a good command response and feedback properties. This result is shown by simulation and experiments.<>