H$\infty$ Optimal Controller Synthesis for an electromechanical actuator system

전기 기계 구동 시스템에 대한 H$\infty$ 최적 제어기 구성

In this paper, we design the H$\infty$ optimal controller satisfying robust stability and performance in spite of the plant uncertainty for an electro-mechanical actuator system and analyze the controller in frequency domain. H$\infty$ optimal controller K was designed using iteration algorithm suggested by DOYLE. Using the controller in an electro-mechanical actuator system, the joint with very small coupling rigidity coefficient was used to vary the control parameter. The plant unstructured uncertainty was assumed to be a multiplicative type.