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http://dx.doi.org/10.5050/KSNVN.2006.16.2.207

Experimental Study on Stability of Robust Saturation Controller  

Lim, Chae-Wook (한국과학기술원 기계공학과)
Moon, Seok-Jun (한국기계연구원)
Park, Youngjin (한국과학기술원 기계공학과)
Park, Yun-Sik (한국과학기술원 기계공학과)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.16, no.2, 2006 , pp. 207-213 More about this Journal
Abstract
In our previous research, we proposed a robust saturation controller which involves both control input saturation and structured real parameter uncertainties. This controller can analytically prescribed the upper and lower bounds of parameter uncertainties, and guarantee the closed-loop robust stability of the system in the presence of actuator's saturation. And the availability and the effectiveness of the proposed robust saturation controller were verified through numerical simulations. In this paper, we verify the robust stability of this controller through experimental tests. Expecially, we show unstable cases of other controllers in comparison with this controller. Experimental tests are carried out in the laboratory using a two-story test structure with a hydraulic-type active mass damper.
Keywords
Control Input Saturation; Structured Real Parameter Uncertainty; Lyapunov Stability; Robust Stability; Robust Saturation Controller;
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