Disturbance/Uncertainty Estimator Based Robust Control of Nonminimum Phase Systems
IEEE-ASME TRANSACTIONS ON MECHATRONICS, vol.23, no.4, pp.1941-1951, 2018 (SCI-Expanded)
- Publication Type: Article / Article
- Volume: 23 Issue: 4
- Publication Date: 2018
- Doi Number: 10.1109/tmech.2018.2835658
- Journal Name: IEEE-ASME TRANSACTIONS ON MECHATRONICS
- Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED)
- Page Numbers: pp.1941-1951
- Keywords: H-infinity control, nonminimum phase, pan-tilt, robust stability/performance, rotary mechanical, DISTURBANCE REJECTION CONTROL, OBSERVER-BASED CONTROL, MOTION CONTROL, FEEDBACK, DESIGN
- Hacettepe University Affiliated: Yes
Abstract
An open problem in disturbance/uncertainty estimator based control is to obtain explicit mathematical expressions for robust stability, performance, and bandwidth requirement. This paper offers a path based on H-infinity robust control to resolve this problem. Robust stability/performance is assured at the design phase. The main controller and disturbance observer are handled as a whole. The ideas are applicable to nonminimum phase systems as well. The theory is verified experimentally on a pan-tilt system and numerically on a rotary mechanical system. Comparisons with state-of-the art methods in literature show noticeable performance and robustness improvements.