HINFINITY CONTROLLER DESIGN FOR A ... （HINFINITY控制器设计的u2026u2026）.pdfVIP

Engineering MECHANICS, Vol. 18, 2011, No. 5/6, p. 271–279 271 H-INFINITY CONTROLLER DESIGN FOR A DC MOTOR MODEL WITH UNCERTAIN PARAMETERS Luk´aˇs Bˇrezina*, Tom´aˇs Bˇrezina** The proposed article deals with uncertain description of permanent-magnet DC motor Maxon RE 35 via parametric uncertainty and H-infinity controller design. There was analyzed influence of uncertainties of the particular motor parameters on the model behavior. Consequently there was designed an H-infinity controller via Matlab functions. The behavior of the obtained controller was analyzed on the step responses and course tracking of the closed loop with the nominal system and the system with perturbed parameters. Keywords : DC motor, parametric uncertainty, H-infinity 1. Introduction Models describing dynamics of systems typically contain some inaccuracies when com- pared with the real device. This is mostly caused by simplifications of the model, neglecting of some factors influencing the dynamics or general modeling inaccuracy. However this might be a problem when designing a control of the system – the precise model is needed for the proper design of a controller. The approach dealing with this problem is based on modeling of the real system as a set of linear time-invariant models built around a nominal one, i.e. the model is built as uncertain within known boundaries. The benefit of such a representation of the model is the possibility of designing a robust controller stabilizing a closed loop system even with uncertainties. The ideal goal is to design a controller capable of stabilizing even the ‘the worst case scenario’ representing the most degraded model. Such a controll