抄録
In this paper, a design method of decoupling control system for multiple-degrees-of-freedom (DOF) systems is proposed. In general, decoupling control systems have been designed by dividing the motion modes into vibration modes via a modal matrix used in the field of modal analysis. However, estimation methods of the modal matrix have not been proposed except for experimental modal analysis in case of physical parameters are unknown. Then, this paper proposes a new estimation procedure of the modal matrix based on the state space model identified by subspace method, and also illustrates a design method of an independent modal control system using the estimated modal matrix. The effectiveness of the proposed method is examined through numerical simulations.
