$H_{\infty}$ Position Controller Design for Servo Systems Containing Resonance Effects and Coulomb Friction

공진효과 및 클롱마찰이 있는 서보 시스템의 $H_{\infty}$ 위치 제어기 설계

The most important problems which should be considered in designing servo controllers are resonance effects and nonlinear friction. These problems exist in almost all the servo systems, especially for the robotic maniplators and numerical control systems and cause difficulties in designing controllers. In this paper, controller design procedure which employs $H_{\infty}$ control theory is proposed for the servo systems with these problems. Sometimes, for these systems, there is a possibility of limit cycles due to the interation between the nonlinear friction and integrator. To check the possibility of limit cycles, describing fuction method is used.