H∞ Phase Control for Flexible Systems

A new weighted H∞ optimization method is proposed to design a robust controller for the flexible system, it solves the problem that the controller is unstable and poor robustness which using H∞ loop shaping method design. The idea of phase control is realized by the configuration of the closed-loop poles which corresponding to the flexible modes, and the closed-loop poles of the high-frequency parts are allowed to differ from the expected poles and weakening the strict positive real constraints. Combined with the phase control and H∞ optimization, the desired closed-loop poles can be realized by the controller. The new method has the advantage of flexibility, and a clear physical meaning in the design process. The feasibility of the proposed method is verified by two simulation examples.

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