Robust Motion Control Based on Quadratic Stabilization and Its Application to Two-Inertia Systems

This paper considers robust motion control of uncertain systems which contain norm-bounded time-varying unstructured uncertainties. The proposed design method is based on quadratic stabilization. The feedback controller, which robustly stablizes the uncertain plant and achieves the desired performance, is constructed based on the solutions of two matrix Riccati equations with a scaling matrix. To achieve further improvement of the command response, we introduce a feedforward control based on the inverse system of the controlled nominal plant. Our method is applied to a two-inertia system which is the simplest model of a mechanical system with torsional vibration. The simulation results show the effectiveness of the proposed method.