The design of control laws for the Caltech flexible structure experiment using a nominal design model with varying levels of uncertainty is considered. A brief overview of the structured singular value ( mu ) Hinfinity control design, and mu -synthesis design techniques is presented. Tradeoffs associated with uncertainty modeling of flexible structures are discussed. A series of controllers are synthesized based on different uncertainty descriptions. It is shown that an improper selection of nominal and uncertainty models may lead to unstable or poor-performing controllers on the actual system. In contrast, if descriptions of uncertainty are overly conservative, performance of the closed-loop system may be severely limited. Experimental results on control laws synthesized for different uncertainty levels on the Caltech structure are presented.
Robustness and performance tradeoffs in control design for flexible structures
Robustheit und Leistung beim Entwurf von Regelungen für flexible Strukturen
Proceedings of the 29th IEEE Conference on Decision and Control ; 6 ; 2999-3010
1990
12 Seiten, 13 Quellen
Conference paper
English
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