This paper presents a data-based design of a linear feedback controller which realizes desired closed-loop sensitivity and complementary sensitivity transfer functions. These transfer functions are specified via a single model-based performance cost. The data-based equivalent of this cost is derived, and its utility for the feedback design is demonstrated. A designer can prescribe the controller structure and complexity. Experimental results obtained in a direct-drive robot motion control problem confirm the effectiveness of the design.
|Title of host publication||Proceedings of the 2004 American Control Conference (ACC 2004), June 30 - July 2, 2004, Boston, USA|
|Place of Publication||Piscataway|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2004|