Fast and Precise Positioning Using LMI-Based Command Shaping Considering Stand Vibration Suppression

Abstract

This paper proposes an LMI-based design approach for command shaping in the fast and precise positioning control of industrial table drive systems on machine stand. In the command shaping, the position response time and the vibration suppression of machine stand can be directly considered as the constraint conditions in LMI design frame work. The effectiveness of the proposed shaping has been verified by numerical simulations and experiments using a prototype with a 2-degrees-of-freedom robust positioning controller.