Dealing with Flexible Modes in 6 DOFs Robust Servo Control

Control of high performance multi-input multi-output electromechanical systems with flexible dynamics is investigated. Present feedforward and feedback control design approaches mainly focus on rigid-body plant behaviour. To achieve higher performance, flexible dynamics should be explicitly addressed during the control design. This implies that the model complexity increases in a model-based design approach. The present research project (2005-2009) focuses on an experimental and closed-loop relevant identification approach that can reliably handle six degrees-of-freedom with flexibilities. This model will be validated by means of an experimental validation and used in a robust control design.