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- Title
Fixed-order data-driven H∞ controller synthesis for flexible mechanical systems: Two-stage approach.
- Authors
Araz, Ayhan Arda; Başlamışlı, S Çağlar; Özmarangoz, Uğur Mertcan
- Abstract
In this paper, a two-stage method is introduced to design fixed-order data-driven H ∞ controller for flexible mechanical systems. In the first stage of the proposed method, unknown parameters of anti-resonance filter that is added to the forward path of the control loop of the system to minimize resonant peaks, are calculated using frequency domain data obtained from open-loop system identification tests. In the second stage, a fixed-order data-driven H ∞ controller is calculated by solving an optimization problem under convex H ∞ constraints obtained based on the Nyquist diagram. With the proposed method, lower order controllers that meets the performance constraints of classical model-based H ∞ problems can be synthesized without need of a parametric plant model. The method developed in this study is tested experimentally on a military stabilized platform and its performance is compared with a model-based H ∞ controller design method.
- Subjects
NYQUIST diagram; SYSTEM identification; PARAMETRIC modeling; PARAMETER identification; PROBLEM solving; TEST systems
- Publication
Transactions of the Institute of Measurement & Control, 2021, Vol 43, Issue 8, p1722
- ISSN
0142-3312
- Publication type
Article
- DOI
10.1177/0142331220940934