Original scientific paper

https://doi.org/10.17559/TV-20200124132757

Educational Case Study on H-Infinity Robust Performance Design

Jakub Nemcik* orcid.org/0000-0002-3240-7003 ; Department of Cybernetics and Biomedical Engineering, VSB-Technical University of Ostrava, 17. listopadu 2172/15, 708 00 Ostrava, Czech Republic
Filip Krupa orcid.org/0000-0002-3959-0410 ; Department of Cybernetics and Biomedical Engineering, VSB-Technical University of Ostrava, 17. listopadu 2172/15, 708 00 Ostrava, Czech Republic
Stepan Ozana orcid.org/0000-0003-1102-8204 ; Department of Cybernetics and Biomedical Engineering, VSB-Technical University of Ostrava, 17. listopadu 2172/15, 708 00 Ostrava, Czech Republic
Lukas Hubka orcid.org/0000-0002-6431-3431 ; Department of Mechatronics and Technical Informatics, Faculty of Mechatronics, Informatics and Interdisciplinary Studies, Technical University of Liberec, Studentska 1402/2, 461 17 Liberec, Czech Republic
Zdenek Slanina orcid.org/0000-0002-7835-5261 ; Department of Cybernetics and Biomedical Engineering, VSB-Technical University of Ostrava, 17. listopadu 2172/15, 708 00 Ostrava, Czech Republic

Abstract

This paper deals with the design of a robust controller according to the H-infinity norm of mixed sensitivity functions. The motivation and origin are given by educational reasons. It compares how settings of individual weighting functions affect the quality of control when designing a sub-optimal controller. First, a controller for a system without uncertainty is considered (a nominal system representing a motor with a flexible clutch) and then the design is modified for a perturbated system with uncertainty in gain and also in the time constant.

Keywords

H-infinity control; H-infinity optimization; robust control; robust stability; robustness

Hrčak ID:

255815

URI

https://hrcak.srce.hr/255815

Publication date:

17.4.2021.

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