A Robust Control System Design Methodology for Mechanical Systems

本研究涉及机械系统的控制设计。具体来说，目的是开发一种高度透明的实用设计方法，用于机械系统的鲁棒控制器的综合，这些系统通常以非线性微分方程和摩擦、饱和、死区、间隙和滞后等现象为特征。要开发的方法平行定量反馈理论，是基于频域设计工具。与最近的鲁棒控制新理论不同，这些理论以牺牲实用的设计工具为代价，强调数学上的优雅，所提出的工作具有工程风格，旨在开发一种现实的，易于使用的设计工具。这项研究需要理论和实验工作，并将包括一些模拟案例研究

The research addresses control design for mechanical systems. Specifically, the intent is the development of a highly transparent practical design methodology for the synthesis of robust controllers for mechanical systems, systems often characterized by nonlinear differential equations and such phenomena as friction, saturation, dead zones, backlash and hysteresis. The methodology to be developed parallels Quantitative Feedback Theory and is based on frequency domain design tools. Unlike recent new theories of robust control which have emphasized mathematical elegance at the expense of practical design tools, the proposed work has an engineering style and is aimed at developing a realistic, easy to use design tool. The research entails both theoretical and experimental work and will include a number of simulation case studies.***//