Data-based design of high-performance motion controllers

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Abstract

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.
Original languageEnglish
Title of host publicationProceedings of the 2004 American Control Conference (ACC 2004), June 30 - July 2, 2004, Boston, USA
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages722-727
ISBN (Print)0-7803-8335-4
Publication statusPublished - 2004

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