Abstract
A procedure for the design of a robust μ-synthesis controller for position control is presented. It allows to overcome stability limitations usually occurring when PID-controllers are developed for systems with low-frequent flexible modes. The procedure is formalistic and can be used for SISO and MIMO systems in the same manner. An electro-mechanical torque measurement device is used as an example, and the controller implementation for this SISO system using analogue controller implementation for this SISO system using analogue components is demonstrated.
