H∞ Robust Control for ICPT System With Selected Weighting Function Considering Parameter Perturbations

H∞ control can guarantee the performance of a nominal ICPT system. However, the dynamic performance may suffer degradation when the parameter deviates from its nominal value. Thus, to enhance the overall dynamic performance of the ICPT system under parameter perturbations, an H∞ control method with a selected weighting function considering parameter perturbations is proposed in this article. First, a generalized state-space model is established to analyze the influence of parameter perturbations on the open-loop system in detail. After that, an uncertain model is established via frequency-domain analysis, generating a numerical solution of a weighting function used to describe the parameter perturbations. Then, the generalized plant with uncertainty is obtained and transferred into a standard H∞ optimal problem via small gain theory. Based on the proposed controller, the dynamic performance and robustness of the closed-loop system are analyzed and verified theoretically. Finally, simulation and experimental results further verify that the proposed H∞ control method can make the closed-loop system obtain good dynamic performance and strong robustness against parameter perturbations. The settling time is less than 6.8 ms without any overshoot when the system suffers parameter perturbations. Besides, the controller can maintain good dynamic performance in the startup and reference tracking experiments.