Non-diagonal H-infinity weighting function design : exploiting spatio-temporal deformations in precision motion control

F.A.J. Boeren, R.M.A. Herpen, van, T.A.E. Oomen, M.M.J. Wal, van de, M. Steinbuch

Research output: Contribution to journalArticleAcademicpeer-review

4 Citations (Scopus)
141 Downloads (Pure)

Abstract

Model-based control design requires a careful specification of performance and robustness requirements. In typical norm-based control designs, performance and robustness requirements are specified in a scalar optimization criterion, even for complex multivariable systems. This paper aims to develop a novel approach for the formulation of this optimization criterion for multivariable motion systems that exhibit spatio-temporal deformations. To achieve this, characteristics of the underlying system are exploited to design multivariable weighting functions. In contrast to pre-existing approaches, which typically lead to diagonal weighting functions, the proposed approach enables the design of non-diagonal weighting functions. Extensive experimental results confirm that the proposed procedure can significantly improve the performance of an industrial motion system compared to earlier approaches.
Original languageEnglish
Pages (from-to)35-42
Number of pages8
JournalControl Engineering Practice
Volume35
DOIs
Publication statusPublished - 2015

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