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Friction compensation for a robust H∞-optimal position control of low order for a multi-mass system
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| Author(s) |
JOOST Matthias; ORLIK Bernd |
| Abstract |
Controlling a multi-mass system is a common problem in industrial automation. Varying or unknown parameters, especially friction, make the control problem more difficult. A powerful tool to control systems with uncertain parameters is a robust H∞-controller. Furthermore, high static friction often still causes problems like stick slip effects. Therefore, friction compensation is needed in addition to a robust controller. This paper will present a simple yet robust friction compensation used in tandem with a robust H∞-controller. Measurements will complete the paper. |
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| Filename: | 0307-epe2007-full-12564700.pdf |
| Filesize: | 1.075 MB |
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| Type |
Members Only |
| Date |
Last modified 2008-01-11 by System |
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