Controller design method achieving maximization of control bandwidth by using nyquist diagram

Low sensitivity and wide control bandwidth are required in order to achieve fast and precise positioning of mechatronic systems. However, it is difficult for the system with multiple vibration models to enlarge control bandwidth while maintaining closed-loop stability and reasonable stability margins. This is because the explicit index for determining control bandwidth has not been proposed. This paper proposes a fixed-order controller design method maximizing control bandwidth by using only frequency responses. By using frequency responses, the proposed method can directly handle frequency domain uncertainty without any modeling. The effectiveness of the proposed method has been verified by an HDD benchmark problem.

[1]  R. Longchamp,et al.  Robust fixed-order H∞ controller design for spectral models by convex optimization , 2008, 2008 47th IEEE Conference on Decision and Control.

[2]  Alan L. Yuille,et al.  The Concave-Convex Procedure , 2003, Neural Computation.

[3]  Masayuki Suzuki,et al.  Controller Design with Guarantee of Prescribed Gain and Phase Margins , 1999 .

[4]  Stephen P. Boyd,et al.  PID design by convex-concave optimization , 2013, 2013 European Control Conference (ECC).

[5]  J. Hirai,et al.  Design of track-following controller satisfying robust performance condition on Nyquist diagram , 2011, IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society.