robust h∞ controller for high precision positioning system, design, analysis, and implementation高精度定位系统鲁棒h∞控制器,设计,分析和实现.pdf

Intelligent Control and Automation, 2012, 3, 262-273 doi:10.4236/ica.2012.33030 Published Online August 2012 (http://www.SciRP.org/journal/ica) Robust H∞Controller for High Precision Positioning System, Design, Analysis, and Implementation 1,2 1 3 Safanah M. Raafat , Rini Akmeliawati , Ismael Abdulljabaar 1Mechatronics Engineering Department, International Islamic University Malaysia, Kuala Lumpur, Malaysia 2Control and System Department, University of Technology, Baghdad, Iraq 3Electrical Engineering Department, Institute of Technology, Baghdad, Iraq Email: smraafat@.iq Received May 21, 2012; revised July 11, 2012; accepted July 18, 2012 ABSTRACT In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust controllers design. v-gap met- ric is utilized to validate the intelligently estimated uncertainty. The robust controllers are formulated within the frame- work of the standard H∞ mixed sensitivity optimization problem. Furthermore, a specially designed integral-H∞ and two-degree-of-freedom 2 DOF H∞ controllers are developed to provide improved robust performance and resolution properties. It is shown that the proposed design schemes are very effective for robust control and precise tracking per- formance of the servo positioning system. Keywords: H∞ Mixed Sensitivity; Integral-H∞ Control; Two-Degree-of-Freedom 2 DOF H∞ Controller; Uncertaint