Integrated Servo-Mechanical Design of Distribution-Based Robust Mechatronics Using GKYP Lemma

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.