Disturbance/Uncertainty Estimator Based Robust Control of Nonminimum Phase Systems

Kurkcu B., Kasnakoğlu C., Efe M. Ö.

IEEE-ASME TRANSACTIONS ON MECHATRONICS, vol.23, no.4, pp.1941-1951, 2018 (SCI-Expanded) identifier identifier

  • 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.