Abstract
If actuators can work stably and their output characteristics are robust with varying load and frequency, it is very easy to design and control general-purpose machines that have this kind of load varying free actuators. We have proposed the control idea to make actuator robust with varying load, named Dynamic Impedance Matching of Actuator[1], that the output of an actuator is not influenced by load at certain range of frequency. In this paper, we look into the stability condition of this control and find the relation ship of phase constraint between Dynamic Impedance Matching of Actuator and H infinity controller that represents the robust control, also try to make H infinity controller by hiring the idea of Dynamic Impedance Matching of Actuator.
