Non-diagonal H∞H∞ weighting function design: Exploiting spatio-temporal deformations in precision motion control

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.