Comparison of different control strategies for an over-actuated system

This paper compares two methods for designing compensators for dual actuated motion systems [3] [4]. Usually H, control is used, including p-synthesis. This method gives very little insight in the controller design proces. The methods compared in this article treat the design of the controller as the design of two SISO controllers, which leads to much more insight. In this paper both methods are explained and illustrated by an example of a servo-positioning system using two actuators.