Robust controller design using frequency domain constraints

This paper describes a method for designing a controller with improved robustness with respect to truncated flexible modes. The approach involves minimization of a quadratic performance index subject to constraints in the frequency domain. The frequency domain criteria are chosen so as to sufficiently attenuate the high frequency response of the full dynamic system while attempting to maintain the overall performance of the closedloop system. The resulting constraint relationships are cast into a functional minimization framework and parameter optimization techniques are used to determine the solution.

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