Improved mu-synthesis control design for an XY-table

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Abstract

The paper discusses the tracking control of uncertain nonlinear systems. The specific system studied is an XY-table. The control system consists of an "exact" linearizing state feedback and a linear robustifying controller in an outer loop. For the outer loop a controller is synthesized using the mu -methodology. Iterative improvements in the robustness of the controlled system are obtained by stepwise refinements in the structure of the mu -synthesis problem and in the choice of performance weights and uncertainty weights, at the cost of decreased performance. This uncovers the need for preciseness in the choice of design weights
Original languageEnglish
Title of host publicationProceedings of the 1995 American control conference, Seattle, Washington, June 21-23. Vol. 4
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages2853-2854
ISBN (Print)0-7803-2446-3
Publication statusPublished - 1995

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