Fixed-order data-driven H-infinity controller synthesis for flexible mechanical systems: Two-stage approach

Araz A. A., BAŞLAMIŞLI S. Ç., Ozmarangoz U. M.

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, vol.43, no.8, pp.1722-1733, 2021 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 43 Issue: 8
  • Publication Date: 2021
  • Doi Number: 10.1177/0142331220940934
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Aerospace Database, Applied Science & Technology Source, Communication Abstracts, Compendex, Computer & Applied Sciences, INSPEC, Metadex, DIALNET, Civil Engineering Abstracts
  • Page Numbers: pp.1722-1733
  • Keywords: Flexible mechanical systems, data-driven control, H-infinity control, open-loop system identification, stabilized platforms, VIBRATION CONTROL
  • Hacettepe University Affiliated: Yes


In this paper, a two-stage method is introduced to design fixed-order data-driven H-infinity controller for flexible mechanical systems. In the first stage of the proposed method, unknown parameters of anti-resonance filter that is added to the forward path of the control loop of the system to minimize resonant peaks, are calculated using frequency domain data obtained from open-loop system identification tests. In the second stage, a fixed-order data-driven H-infinity controller is calculated by solving an optimization problem under convex H-infinity constraints obtained based on the Nyquist diagram. With the proposed method, lower order controllers that meets the performance constraints of classical model-based H-infinity problems can be synthesized without need of a parametric plant model. The method developed in this study is tested experimentally on a military stabilized platform and its performance is compared with a model-based H-infinity controller design method.