Please use this identifier to cite or link to this item: https://doi.org/10.1109/IECON.2013.6700198
Title: Convex separable parametrization in integrated servo-mechanical design for high-performance mechatronics
Authors: Tan, Y.Z.
Pang, C.K. 
Lee, T.H. 
Teo, T.J.
Issue Date: 2013
Source: Tan, Y.Z.,Pang, C.K.,Lee, T.H.,Teo, T.J. (2013). Convex separable parametrization in integrated servo-mechanical design for high-performance mechatronics. IECON Proceedings (Industrial Electronics Conference) : 6448-6453. ScholarBank@NUS Repository. https://doi.org/10.1109/IECON.2013.6700198
Abstract: Integrated servo-mechanical design for achieving positive realness constraints and control specifications of high-performance mechatronics is generally a nonlinear and nonconvex optimization problem. In this paper, a generalized Kalman-Yakubovic-Popov Lemma-based algorithm is proposed for simultaneous finite frequency redesign of the mechanical plant and controller using a convex separable parametrization. Our simulation results using the proposed algorithm achieve a high-bandwidth control system with disturbance attenuation capabilities at the phase-stabilized resonant modes. An identical closed-loop performance is achieved with a reduced-order controller from considering the mechanical realization of controller anti-resonant zeros. © 2013 IEEE.
Source Title: IECON Proceedings (Industrial Electronics Conference)
URI: http://scholarbank.nus.edu.sg/handle/10635/83588
ISBN: 9781479902248
DOI: 10.1109/IECON.2013.6700198
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