H-infinity Control of DC Motor Part II : Controller Implementation

From H-infinity Control of DC Motor Part I : Plant Modeling and Controller Synthesis, we discuss essential steps required to achieve a controller for DC motor plant, from estimating a plant model by least-square identification, adjusting weighting functions, formulating a … Continue reading

H-infinity Control of DC Motor Part I : Plant Modeling and Controller Synthesis

is a recent linear control scheme that often sounds intimidating to a new control engineering student. And she might have in her mind already “Geez, this beast must require expensive control design software and run only on state-of-the-art laboratory hardware … Continue reading

H-infinity synthesis with Scilab Part III : Cascade design

At the end of Part II in our design trilogy, we addressed the disturbance attenuation problem when the torque disturbance input affected the plant output significantly. A straightforward way to deal with this problem is to push the sensitivity weight … Continue reading

H-infinity synthesis with Scilab Part II : Single-loop Tracking Example

From the problem setup discussion in Part I, we proceed with an example on tracking problem using mixed-sensitivity synthesis. The plant used in this example is a mechanical revolute joint driven by brushless servomotor in Figure 1, consisiting of joint, … Continue reading