H_∞ Phase Control for Flexible Systems

摘要

A new weighted optimization method is proposed to design a robust controller for the flexible system, it solves the problem that the controller is unstable and poor robustness which using loop shaping method design. The idea of phase control is realized by the configuration of the closed-loop poles which corresponding to the flexible modes, and the closed-loop poles of the high-frequency parts are allowed to differ from the expected poles and weakening the strict positive real constraints. Combined with the phase control and optimization, the desired closed-loop poles can be realized by the controller. The new method has the advantage of flexibility, and a clear physical meaning in the design process. The feasibility of the proposed method is verified by two simulation examples.