A Study on $H_\infty$ Integral Controller Design for Systems with Nonlinear Friction

비선형 마찰을 포함한 시스템의 $H_\infty$ 적분 제어기 설계에 대한 연구

Nonlinear frictions which generate many problems in control system exist in almost all the servor control systems. In this paper, the design procedure which employs $H_\infty$ integral controller including two integrators with performance weight is proposed to improve performance of the control system. Limit cycles are unavoidable by the effect of interaction between two integrators and coulomb friction in these system. The describing function method is used to check the limit cycles and determine the coefficients of performance weights to minimize the effect of the limit cycles.