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|Title:||Integrated servo-mechanical design of distribution-based robust mechatronics using GKYP Lemma||Authors:||Tan, Y.Z.
|Issue Date:||2013||Citation:||Tan, Y.Z.,Tang, M.,Pang, C.K.,Ng, T.S.,Hong, F.,Lee, T.H. (2013). Integrated servo-mechanical design of distribution-based robust mechatronics using GKYP Lemma. IFAC Proceedings Volumes (IFAC-PapersOnline) : 511-516. ScholarBank@NUS Repository. https://doi.org/10.3182/20130410-3-CN-2034.00039||Abstract:||Performance specifications and robust stabilization of mechatronics are generally difficult to achieve simultaneously with a low-order controller. In this paper, an integrated servo-mechanical design algorithm is proposed for finite frequency redesign of a mechanical plant using the Generalized Kalman-Yakubovic-Popov (GKYP) Lemma. The plant is synthesized based on a pre-designed low-order controller, and robust stability criterion of the overall control system in the presence of Gaussian plant parametric perturbations is also included. 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, and is robustly stable to uniform plant parametric perturbations with the low-order controller. © 2013 IFAC.||Source Title:||IFAC Proceedings Volumes (IFAC-PapersOnline)||URI:||http://scholarbank.nus.edu.sg/handle/10635/51193||ISBN:||9783902823311||ISSN:||14746670||DOI:||10.3182/20130410-3-CN-2034.00039|
|Appears in Collections:||Staff Publications|
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