ROBUST CONTROL OF AN AUTOMOTIVE ELECTROMECHANICAL BRAKE

This paper presents a robust H∞ optimal control design for an automotive electromechanical brake (EMB). The design considers parametric uncertainty, unmodelled dynamics and the need for robust stability and performance. The capacity of a robust EMB control to manage uncertainty and performance is assessed and experimental and simulation results are presented. The tradeoffs involved in meeting a satisfactory performance specification in the presence of a reasonable set of actuator uncertainties are investigated and discussed. The robust control is benchmarked against a standard cascaded PI control for the EMB.