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Nonlinear H∞-Output Regulation of a Nonminimum Phase Servomechanism With Backlash

Nonlinear H∞-Output Regulation of a Nonminimum Phase Servomechanism With Backlash <jats:p>Nonlinear H∞ control synthesis is extended to an output regulation problem for a servomechanism with backlash. The problem in question is to design a feedback controller so as to obtain the closed-loop system in which all trajectories are bounded and the load of the driver is regulated to a desired position while also attenuating the influence of external disturbances. Provided the servomotor position is the only measurement available for feedback, the proposed extension is far from trivial because of nonminimum phase properties of the system. Performance issues of the nonlinear H∞-output regulator constructed are illustrated in an experimental study.</jats:p> http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Journal of Dynamic Systems, Measurement, and Control CrossRef

Nonlinear H∞-Output Regulation of a Nonminimum Phase Servomechanism With Backlash

Journal of Dynamic Systems, Measurement, and Control , Volume 129 (4): 544-549 – Nov 21, 2006

Nonlinear H∞-Output Regulation of a Nonminimum Phase Servomechanism With Backlash


Abstract

<jats:p>Nonlinear H∞ control synthesis is extended to an output regulation problem for a servomechanism with backlash. The problem in question is to design a feedback controller so as to obtain the closed-loop system in which all trajectories are bounded and the load of the driver is regulated to a desired position while also attenuating the influence of external disturbances. Provided the servomotor position is the only measurement available for feedback, the proposed extension is far from trivial because of nonminimum phase properties of the system. Performance issues of the nonlinear H∞-output regulator constructed are illustrated in an experimental study.</jats:p>

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Publisher
CrossRef
ISSN
0022-0434
DOI
10.1115/1.2719774
Publisher site
See Article on Publisher Site

Abstract

<jats:p>Nonlinear H∞ control synthesis is extended to an output regulation problem for a servomechanism with backlash. The problem in question is to design a feedback controller so as to obtain the closed-loop system in which all trajectories are bounded and the load of the driver is regulated to a desired position while also attenuating the influence of external disturbances. Provided the servomotor position is the only measurement available for feedback, the proposed extension is far from trivial because of nonminimum phase properties of the system. Performance issues of the nonlinear H∞-output regulator constructed are illustrated in an experimental study.</jats:p>

Journal

Journal of Dynamic Systems, Measurement, and ControlCrossRef

Published: Nov 21, 2006

References