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|Title:||Convex separable parametrization in integrated servo-mechanical design for high-performance mechatronics|
|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)|
|Appears in Collections:||Staff Publications|
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