Freguency-Shaped Nonlinear Robust Control Basedon H^* Control for Flexible System.

本研究提出了一种基于H^*/mu综合理论的滑模控制方法。这个概念是基于频率形状的方法。传统的超平面由一个没有动力学的期望参考模型组成。因此，滑模控制系统往往会由于高频区域的溢出现象而变得不稳定。另一方面，由于频率型超平面的存在，所提出的设计方法可以完全抑制这种溢出现象。该方法在超平面参数变化情况下具有良好的鲁棒性和鲁棒性，能最大限度地减小被控变量受噪声影响的最大奇异值和结构奇异值。我们刚刚将这种新方法应用到四层类似高层建筑的微型试验台的柔性结构中。仿真结果表明，本文提出的滑模控制方法具有良好的性能，对抑制高频区域的溢出很有帮助。

This research work proposes a new sliding mode control method using H^*/mu synthesis theory. This concept is based on the frequencyshaped approach. A conventional hyperplane consisits of a desired reference model without dynamics. Therefore, the sliding mode control system becomes often unstable based on spillover phenomena in a higher frequency region. On the other hand, the proposed design method can completely suppress such spillover phenomena because of the frequency-shaped hyperplane. Also, it has good robustness and robust performance in cases of parameter variations on the hyper plane to minimize the maximum singular value and structured sigular value from some noise to the controlled variables. We have just applied this new method to the flexible structure of the miniature test rig with four stories like high rise building. We have verified from simulations that the new sliding mode control method proposed in this paper has good performances and it is very useful to supperess the spillover in a higher frequency region.