Digital H-infinity Robust Control of Mechanical System with Implicit Observer

Author(s)

Angelico, Bruno A. ; Brugnolli, Mateus M. ; das Neves, Gabriel P. ; IEEE

• Document type: Journal article
• Source: 2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC); v. N/A, p. 6-pg., 2019-01-01.

Abstract

The state-space model of a mechanical system usually has in its state vector the angular positions and velocities. For not using observers, the systems must have position and velocity sensors. Considering a digital control formulation, this work includes the derivative estimates in the system model, and a new representation is built considering the actual angular positions and their previous values. With this representation, a robust H-infinity static state feedback controller is designed, and the robustness of the full system can be guaranteed since the state estimator structure is included in the system model. A servomechanism and a homemade rotary inverted pendulum are considered as examples of practical applications. (AU)

• FAPESP's process: 17/22130-4 - Applied Robust Control
• Grantee: Bruno Augusto Angélico
• Support Opportunities: Regular Research Grants