19 June 2000 Robust disturbance rejection for flexible mechanical structures
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Abstract
Topic of the presentation is a procedure to determine controller parameters using principles from Internal Model Control (IMC) in combination with Quantitative Feedback Theory (QFT) for robust vibration control of flexible mechanical structures. IMC design is based on a parameterization of all controllers that stabilize a given nominal plant, called the Q-parameter or Youla-parameter. It will be shown that it is possible to choose the controller structure and the Q- parameter in a very straightforward manner, so that a low order controller results, which stabilizes the given nominal model. Additional constraints can be implemented, so that the method allows for a direct and transparent trade-off between control performance and controller complexity and facilitates the inclusion of low-pass filters. In order to test (and if necessary augment) the inherent robust performance of the resulting controllers, boundaries based on the work of Kidron and Yaniv are calculated in the Nichols-Charts of the open loop and the complementary sensitivity function. The application of these boundaries is presented. Very simple uncertainty models for resonant modes are used to assess the robustness of the design. Using a simply structured plant as illustrative example we will demonstrate the design process. This will illuminate several important features of the design process, e.g. trade-off between conflicting objectives, trade- off between controller complexity and achievable performance.
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Marc R. Enzmann, Marc R. Enzmann, Christian Doeschner, Christian Doeschner, } "Robust disturbance rejection for flexible mechanical structures", Proc. SPIE 3984, Smart Structures and Materials 2000: Mathematics and Control in Smart Structures, (19 June 2000); doi: 10.1117/12.388752; https://doi.org/10.1117/12.388752
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