IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
A Practical H Two Degrees of Feedom Controller Design and Its Applications to Servo Systems
Liyu CaoYoichi Hori
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1996 Volume 116 Issue 10 Pages 987-992


We consider the problem of applying H optimization techniques to design a TDOF controller for robust servo systems. We introduce a two-step H optimization procedure: a feedback controller is designed to satisfy feedback properties and a prefilter is used to improve reference tracking performance. We describe a mixed sensitivity optimization scheme that is used for the feedback controller design, and propose a frequency shaping philosophy that highlights key issues for the prefilter design. We discuss the uncertainties in DC motor model and explain how to treat the parametric and non-parametric uncertainties in H optimization framework. We also show a design example for a DC motor with parametric uncertainties and analyze the tracking property in terms of design strategy and parameters change.

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