H∞ Controller Design for A Ball and Plate System Using Normalized Coprime Factors
In this paper,we discuss how to synthesize a stabilizably robust controller for a ball and plate system(BPS).In order to reduce the fragility in its robust controller synthesis,a loop-shaping method in terms of a normalized right coprime factor(NRCF)uncertainty description for the BPS is thus employed.In effect,the design of weighting functions for the BPS loop-shaping is a decisive factor to determine good performance of the resulting closed-loop system.As a result,the well-known lead-lag series compensation design methods are innovatively adopted to obtain appropriate pre and post compensators as the weighting functions to guaranteed the BPS time-domain performance requirements.Finally,a numerical simulation on the BPS is used to verify the effectiveness of the proposed design method for the shaping weighting functions.
Robust Controller Ball and Plate System (BPS) Normalised Right Coprime Factor (NRCF) Pre and Post Compensators
Hai-Qi Lin Shi-Gang Cui Li-Hui Geng Yong-Li Zhang
Tianjin Key Laboratory of Information Sensing and Intelligent Control,School of Automation and Electrical Engineering,Tianjin University of Technology and Education,Tianjin 300222,P.R.China
国际会议
长沙
英文
467-472
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）