ROBUST Hoo-CONTROL FOR MULTI-MASS SYSTEMS BASED ON A REDUCED MODEL

Elastically coupled multi-mass systems can be found in many mechanical applications, e.g. in robotics or machine tools. Parameter uncertainties often exist and desire a certain robustness of the control. An H∞ control is an effective tool to control such systems. Unfortunately it is usually of a high order. While order reduction algorithms can be applied, the robustness of the resulting controller can no longer be guaranteed and has to be checked separately. In this paper an H∞ control based on a reduced substitute model is presented. This way the order is kept low, while the robustness can still be guaranteed.Topic: B - Control of mechatronic systems