A study on H-inifinity control techniques for uncertain flexible structures

Author(s)

Alysson Fernandes Mazoni

• Document type: Master's Dissertation
• Press: Campinas, SP.
• Institution: Universidade Estadual de Campinas (UNICAMP). Faculdade de Engenharia Mecânica
• Defense date: 2008-02-22

Examining board members

Alberto Luiz Serpa; Lazaro Valentim Donadon; Eurípedes Guilherme de Oliveira Nóbrega

• Advisor: Alberto Luiz Serpa

Abstract

This dissertation deals with modern techniques from the Robust H8 Control of Linear Dynamic Systems. By this it is meant that the results from linear control systems theory are used as mathemathical tools when considering several kinds of uncertainty on the models. These models are mostly of flexible structures and the design methods are implemented using solely the solution of problems subjected to linear matrix inequalities. The types of uncertainty approached are: parametric, dynamic and polytopic; this is done aiming to present mathematical design methods for the uncertain systems considered. When dealing with dynamic uncertainty, the weighting functions are introduced. In contrast with this approach, recent results from literature on the generalised Kalman-Yakubovi?c-Popov lemma and frequency restricted H8 are also used as control design methods whose application is independent of weighting functions. All methods are compared using simple simulation models and experiments with flexible structures . Keywords: Theory of dynamical systems, Convex programming, Feedback control systems (AU)