Abstract
A 2-mass system connected by a non ideal shaft has resonance modes and it is difficult to design a controller suppressing the vibration in the face of parameter variation.
In this paper, we propose a method of μ-Synthesis based on the descriptor form representation to deal with parameter uncertainties independently. We first consider a class of parameter uncertainty given in the descriptor form and show how to achieve robust stability and robust performance for this class of perturbed systems. Then we apply this method to the 2-mass spring system with parameter uncertainties of the torsional constant and the load inertia. By using this method these two physical uncertainties are treated independently and a controller is designed to achieve not only robust stability but also robust disturbance suppression. In addition, we also use two-degree freedom control scheme to achieve a good transient response.
Simulation results are presented to demonstrate the control effects.
