A two-degree-of-freedom design method of LQI servo systems has been proposed based on optimal control theory. The feature of this method is that tracking characteristics are determined optimally with respect to a quadratic-integral performance index while the integral compensator (i.e., the integral gain) can be designed independently without affecting tracking characteristics. This paper considers to apply the H∞ techniques to the design of the integral compensator. We apply such a design scheme to positioning control of a pneumatic servo system and show its effectiveness through experiments.
|Translated title of the contribution||H∞-Based Two-Degree-of-Freedom Optimal Servo Systems with Integral Compensation and Their Application to Positioning Control of Pneumatic Cylinders|
|Number of pages||1|
|Publication status||Published - 2003|