LMI-Based Controller Design of Pneumatic Cylinder

LMI를 이용한 공기압 실린더의 상태제어기 설계

  • 장지성 (부경대학교 기계공학부) ;
  • 지상원 (부경대학교 대학원 제어기계공학과) ;
  • 김영복 (부경대학교 기계공학부)
  • Published : 2008.03.01

Abstract

Pneumatic driving systems have hard non-linear characteristic and large friction force compared with driving power. Hence, it cannot be robust against parameter uncertainties, modelling error, disturbance and noise. In this study, we apply a mixed $H_2/H_{\infty}$ control to the generalized plant for a pneumatic driving apparatus system including parameter uncertainty and disturbance. In order to design the $H_2/H_{\infty}$ controller, we use the LMI technique. To evaluate control performance and robust stability of the designed controller, we compare it with a conventional controller such as PVA(Position-Velocity-Acceleration state controller) using the simulation results. As a result, it can be known that designed controller shows better robust stability than the conventional controller.

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