Robust control of residual motion of cable transporter systems

This paper reports the modelling and robust control of cable connected linear transporter systems. An infinitedimensional model of the time-delay transporter system is truncated to obtain finite-dimensional model for controller design. A minimax LQG controller is designed for multiplicative nonparameteric uncertainties. The minimax controller design involves solution of two simultaneous Riccati equation. The controller is implemented on a laboratory cable connected linear transporter system. The experimental results show a reduction of 9dB in the fundamental resonant peak.

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