Abstract:
A strategy for the design of robust control of tracking electromechanical
systems based on 𝐻∞ synthesis is proposed. Proposed methods are based on
the operations on frequency characteristics of control systems designed and
developed using the MATLAB robust control toolbox. Determination of the
singular values for a transfer matrix of the control system reduces the
disturbances and guarantees its stability margin. For selecting the weighted
transfer functions, the basic recommendations are formulated. The efficiency
of the proposed approach is verified by robust control of an elastically
coupled two-mass system whose parameter values are adjusted by matching
them with the parameters of one of the supplied robots. The simulation
results confirm that the proposed strategy of design of robust control of twomass elastic coupling system using the 𝐻∞ synthesis is very efficient and
significantly reduces the perturbation of parameters of the controlled plant.
