Robustness and performance tradeoffs in control design for flexible structures
- 1 January 1990
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2999-3010 vol.6
- https://doi.org/10.1109/cdc.1990.203334
Abstract
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 ) H/sub infinity / 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.Keywords
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