Abstract
Recently, the importance of the joint design of identification and control has been recognized, and several controller design methods based on the iteration of identification and controller re-design are proposed. However, in these methods, we can not expect the convergence of the iterative procedure. Furthermore, although various powerful robust control methods have been developed remarkably, it is difficult to take advantage of them. Therefore, in this paper, we propose a new method of the joint design of closed-loop identification and control. In the propose method, the convergence of the iteration is considered in the controller design stage, and we can make use of the H∞ control methodology. In addition, we evaluate its effectiveness via experiments using a positioning servo system with flexible joint.
