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Title: Integrated servo-mechanical design of distribution-based robust mechatronics using GKYP Lemma
Authors: Tan, Y.Z.
Tang, M.
Pang, C.K. 
Ng, T.S. 
Hong, F.
Lee, T.H. 
Keywords: Distribution
Integrated servo-mechanical
Low-order controller
Robust stability
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.
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)
ISBN: 9783902823311
ISSN: 14746670
DOI: 10.3182/20130410-3-CN-2034.00039
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