Exploiting H infinity sampled-data control theory for high-precision electromechanical servo control design

T.A.E. Oomen; M.M.J. Wal, van de; O.H. Bosgra

doi:10.1109/ACC.2006.1656361

Exploiting H infinity sampled-data control theory for high-precision electromechanical servo control design

T.A.E. Oomen, M.M.J. Wal, van de, O.H. Bosgra

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

4 Citations (Scopus)

Abstract

Optimal design of digital controllers for industrial electromechanical servo systems using an Hinf-criterion is considered. Present industrial practice is to perform the control design in the continuous time domain and to discretize the controller a posteriori. This procedure involves unnecessary approximations. Alternatively, a direct sampled-data control design can be made, where an optimal discrete time controller is computed for a continuous time standard plant. Though theoretically and numerically solvable, a sampled-data approach is hardly feasible in an industrial environment. In this paper, a discrete time control design approach is taken. Tools that stem from sampled-data control and multirate systems theory are presented to evaluate the intersample behavior in the frequency domain, since intersample behavior is not explicitly addressed during discrete time control design. Experimental results are given to illustrate the effectiveness of the proposed discrete time control design approach and to illustrate the importance of intersample behavior in practical applications.

Original language	English
Title of host publication	Proceedings of the 2006 American Control Conference, June 14-16, 2006, Minneapolis, Minnesota, USA
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers
Pages	1086-1091
ISBN (Print)	1-4244-0209-3
DOIs	https://doi.org/10.1109/ACC.2006.1656361
Publication status	Published - 2006
Event	2006 American Control Conference (ACC 2006), June 14-16, 2006, Minneapolis, MN, USA - Minneapolis, MN, USA, Minneapolis, MN, United States Duration: 14 Jun 2006 → 16 Jun 2006

Conference

Conference	2006 American Control Conference (ACC 2006), June 14-16, 2006, Minneapolis, MN, USA
Abbreviated title	ACC 2006
Country/Territory	United States
City	Minneapolis, MN
Period	14/06/06 → 16/06/06

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10.1109/ACC.2006.1656361

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Oomen, T. A. E., Wal, van de, M. M. J., & Bosgra, O. H. (2006). Exploiting H infinity sampled-data control theory for high-precision electromechanical servo control design. In Proceedings of the 2006 American Control Conference, June 14-16, 2006, Minneapolis, Minnesota, USA (pp. 1086-1091). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ACC.2006.1656361

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title = "Exploiting H infinity sampled-data control theory for high-precision electromechanical servo control design",

abstract = "Optimal design of digital controllers for industrial electromechanical servo systems using an Hinf-criterion is considered. Present industrial practice is to perform the control design in the continuous time domain and to discretize the controller a posteriori. This procedure involves unnecessary approximations. Alternatively, a direct sampled-data control design can be made, where an optimal discrete time controller is computed for a continuous time standard plant. Though theoretically and numerically solvable, a sampled-data approach is hardly feasible in an industrial environment. In this paper, a discrete time control design approach is taken. Tools that stem from sampled-data control and multirate systems theory are presented to evaluate the intersample behavior in the frequency domain, since intersample behavior is not explicitly addressed during discrete time control design. Experimental results are given to illustrate the effectiveness of the proposed discrete time control design approach and to illustrate the importance of intersample behavior in practical applications.",

author = "T.A.E. Oomen and {Wal, van de}, M.M.J. and O.H. Bosgra",

year = "2006",

doi = "10.1109/ACC.2006.1656361",

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isbn = "1-4244-0209-3",

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booktitle = "Proceedings of the 2006 American Control Conference, June 14-16, 2006, Minneapolis, Minnesota, USA",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

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Oomen, TAE, Wal, van de, MMJ & Bosgra, OH 2006, Exploiting H infinity sampled-data control theory for high-precision electromechanical servo control design. in Proceedings of the 2006 American Control Conference, June 14-16, 2006, Minneapolis, Minnesota, USA. Institute of Electrical and Electronics Engineers, Piscataway, NJ, pp. 1086-1091, 2006 American Control Conference (ACC 2006), June 14-16, 2006, Minneapolis, MN, USA, Minneapolis, MN, United States, 14/06/06. https://doi.org/10.1109/ACC.2006.1656361

Exploiting H infinity sampled-data control theory for high-precision electromechanical servo control design. / Oomen, T.A.E.; Wal, van de, M.M.J.; Bosgra, O.H.
Proceedings of the 2006 American Control Conference, June 14-16, 2006, Minneapolis, Minnesota, USA. Piscataway, NJ: Institute of Electrical and Electronics Engineers, 2006. p. 1086-1091.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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T1 - Exploiting H infinity sampled-data control theory for high-precision electromechanical servo control design

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N2 - Optimal design of digital controllers for industrial electromechanical servo systems using an Hinf-criterion is considered. Present industrial practice is to perform the control design in the continuous time domain and to discretize the controller a posteriori. This procedure involves unnecessary approximations. Alternatively, a direct sampled-data control design can be made, where an optimal discrete time controller is computed for a continuous time standard plant. Though theoretically and numerically solvable, a sampled-data approach is hardly feasible in an industrial environment. In this paper, a discrete time control design approach is taken. Tools that stem from sampled-data control and multirate systems theory are presented to evaluate the intersample behavior in the frequency domain, since intersample behavior is not explicitly addressed during discrete time control design. Experimental results are given to illustrate the effectiveness of the proposed discrete time control design approach and to illustrate the importance of intersample behavior in practical applications.

AB - Optimal design of digital controllers for industrial electromechanical servo systems using an Hinf-criterion is considered. Present industrial practice is to perform the control design in the continuous time domain and to discretize the controller a posteriori. This procedure involves unnecessary approximations. Alternatively, a direct sampled-data control design can be made, where an optimal discrete time controller is computed for a continuous time standard plant. Though theoretically and numerically solvable, a sampled-data approach is hardly feasible in an industrial environment. In this paper, a discrete time control design approach is taken. Tools that stem from sampled-data control and multirate systems theory are presented to evaluate the intersample behavior in the frequency domain, since intersample behavior is not explicitly addressed during discrete time control design. Experimental results are given to illustrate the effectiveness of the proposed discrete time control design approach and to illustrate the importance of intersample behavior in practical applications.

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M3 - Conference contribution

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BT - Proceedings of the 2006 American Control Conference, June 14-16, 2006, Minneapolis, Minnesota, USA

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Y2 - 14 June 2006 through 16 June 2006

ER -

Exploiting H infinity sampled-data control theory for high-precision electromechanical servo control design

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