Robust H∞ controller for high precision positioning system, design, analysis, and implementation
In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust controllers design. v-gap met- ric is utilized to validate the intelligently estimat...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Scientific Research Publishing Inc.
2012
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/1/ICA20120300008_48886087.pdf |
| _version_ | 1848779877765873664 |
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| author | Raafat, Safanah M. Akmeliawati, Rini Abdulljabaar, Ismael |
| author_facet | Raafat, Safanah M. Akmeliawati, Rini Abdulljabaar, Ismael |
| author_sort | Raafat, Safanah M. |
| building | IIUM Repository |
| collection | Online Access |
| description | In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust controllers design. v-gap met- ric is utilized to validate the intelligently estimated uncertainty. The robust controllers are formulated within the frame- work of the standard H∞ mixed sensitivity optimization problem. Furthermore, a specially designed integral-H∞ and two-degree-of-freedom 2 DOF H∞ controllers are developed to provide improved robust performance and resolution properties. It is shown that the proposed design schemes are very effective for robust control and precise tracking per- formance of the servo positioning system. |
| first_indexed | 2025-11-14T15:24:46Z |
| format | Article |
| id | iium-27843 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T15:24:46Z |
| publishDate | 2012 |
| publisher | Scientific Research Publishing Inc. |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-278432013-02-13T23:46:23Z http://irep.iium.edu.my/27843/ Robust H∞ controller for high precision positioning system, design, analysis, and implementation Raafat, Safanah M. Akmeliawati, Rini Abdulljabaar, Ismael TJ212 Control engineering In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust controllers design. v-gap met- ric is utilized to validate the intelligently estimated uncertainty. The robust controllers are formulated within the frame- work of the standard H∞ mixed sensitivity optimization problem. Furthermore, a specially designed integral-H∞ and two-degree-of-freedom 2 DOF H∞ controllers are developed to provide improved robust performance and resolution properties. It is shown that the proposed design schemes are very effective for robust control and precise tracking per- formance of the servo positioning system. Scientific Research Publishing Inc. 2012 Article PeerReviewed application/pdf en http://irep.iium.edu.my/27843/1/ICA20120300008_48886087.pdf Raafat, Safanah M. and Akmeliawati, Rini and Abdulljabaar, Ismael (2012) Robust H∞ controller for high precision positioning system, design, analysis, and implementation. Intelligent Control and Automation, 3 (3). pp. 262-273. ISSN 2153-0653 (Print) 2153-0661 (Online) http://dx.doi.org/10.4236/ica.2012.33030 10.4236/ica.2012.33030 |
| spellingShingle | TJ212 Control engineering Raafat, Safanah M. Akmeliawati, Rini Abdulljabaar, Ismael Robust H∞ controller for high precision positioning system, design, analysis, and implementation |
| title | Robust H∞ controller for high precision positioning system, design, analysis, and implementation |
| title_full | Robust H∞ controller for high precision positioning system, design, analysis, and implementation |
| title_fullStr | Robust H∞ controller for high precision positioning system, design, analysis, and implementation |
| title_full_unstemmed | Robust H∞ controller for high precision positioning system, design, analysis, and implementation |
| title_short | Robust H∞ controller for high precision positioning system, design, analysis, and implementation |
| title_sort | robust h∞ controller for high precision positioning system, design, analysis, and implementation |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/1/ICA20120300008_48886087.pdf |