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LMI-based Robust Control Design For Motion Systems

Alena Kozakova, Maria Hypiusova
The paper deals with state-feedback robust control design methods for uncertain SISO continuous-time systems modelled using parametric uncertainties. A software tool based on advanced optimization tools (YALMIP toolbox with LMI and SeDuMi solvers) is presented applicable for robust motion control design.
LMI-based control design to guarantee quadratic stability, H2 and Hinf performance specification is considered. A practical application is provided illustrating application of the individual robust control design approaches for a laboratory plant – a Modular Servo System
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