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http://dx.doi.org/10.3796/KSFOT.2022.58.3.241

H-infinity controller design for robust speed control against disturbance and model uncertainty of DC motors  

JEONG, Tae-Young (Training Ship, Pukyong National University)
KIM, Dong-Geun (Graduate School of Refrigeration and Air-conditioning Engineering, Pukyong National University)
Publication Information
Journal of the Korean Society of Fisheries and Ocean Technology / v.58, no.3, 2022 , pp. 241-250 More about this Journal
Abstract
This paper describes the design of H-infinity controller for robust control of a DC motor system. The suggested controller can ensure robustness against disturbance and model uncertainty by minimizing H-infinity norm of the transfer function from exogenous input to performance output and applying the small gain theorem. In particular, the controller was designed to reduce the effects of disturbance and model uncertainty simultaneously by formalizing these problems as a mixed sensitivity problem. The validity of the proposed controller was demonstrated by computer simulations and real experiments. Moreover, the effectiveness of the proposed controller was confirmed by comparing its performance with PI controller, which was tested under the same experimental condition as the H-infinity controller.
Keywords
DC motor; H-infinity control; Model uncertainty; Robust control; Mixed sensitivity problem; Disturbance rejection;
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Times Cited By KSCI : 1  (Citation Analysis)
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