کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
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699881 | 1460711 | 2015 | 8 صفحه PDF | دانلود رایگان |
Model-based control design requires a careful specification of performance and robustness requirements. In typical norm-based control designs, performance and robustness requirements are specified in a scalar optimization criterion, even for complex multivariable systems. This paper aims to develop a novel approach for the formulation of this optimization criterion for multivariable motion systems that exhibit spatio-temporal deformations. To achieve this, characteristics of the underlying system are exploited to design multivariable weighting functions. In contrast to pre-existing approaches, which typically lead to diagonal weighting functions, the proposed approach enables the design of non-diagonal weighting functions. Extensive experimental results confirm that the proposed procedure can significantly improve the performance of an industrial motion system compared to earlier approaches.
Journal: Control Engineering Practice - Volume 35, February 2015, Pages 35–42