Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
An Improvement by Unstable Controller in Disturbance Suppression Performance of Two-inertia System with Low Stiffness and High Inertia Ratio
Makoto TakayamaYasuhide Kobayashi
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2017 Volume 30 Issue 12 Pages 446-458


In order to improve control performance given by stable controller for disturbance suppression problem of two-inertia system with low stiffness and high inertia ratio, this paper proposes a simple structure of controller which has a similar characteristic of unstable controller given by H control design. The proposed controller has two tunable parameters, and a tuning procedure to minimize the closed-loop gain with desired stable margins is given, by which the proposed controller can be easily adjusted when physical parameters are changed. The optimal closed-loop gain by conventional control method (proportional control) and an rate of improvement by proposed method are theoretically given in terms of physical parameters of plant. The validity of the proposed method is shown by experimental results.

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© 2017 The Institute of Systems, Control and Information Engineers
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