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|Title:||Integrated servo-mechanical design of high-performance mechatronics using generalized KYP Lemma|
|Citation:||Tan, Y.Z., Pang, C.K., Hong, F., Lee, T.H. (2013-09). Integrated servo-mechanical design of high-performance mechatronics using generalized KYP Lemma. Microsystem Technologies 19 (9-10) : 1549-1557. ScholarBank@NUS Repository. https://doi.org/10.1007/s00542-013-1853-5|
|Abstract:||High-performance mechatronics have specifications which are difficult to achieve when the mechanical plant is non-minimum phase and a low-order controller is used. In this paper, an integrated servo-mechanical design algorithm is proposed for systematic finite frequency redesign of a mechanical plant using the generalized Kalman-Yakubovic-Popov Lemma. The synthesis of a minimum phase plant is carried out based on a predesigned low-order controller, positive realness constraints, and performance specifications of the overall control system. Our simulation results using the proposed algorithm achieve a high-bandwidth control system with disturbance attenuation capabilities at the phase-stabilized resonant modes of the plant with the low-order controller. © 2013 Springer-Verlag Berlin Heidelberg.|
|Source Title:||Microsystem Technologies|
|Appears in Collections:||Staff Publications|
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