Robustness and Performance Trade-Offs in Control Design for Flexible Structures
1994-12
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Robustness and Performance Trade-Offs in Control Design for Flexible Structures
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1994-12
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Institute of Electrical and Electronic Engineers
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Abstract
Linear control design models for flexible structures are only an approximation to the “real” structural system. There are always modeling errors or uncertainty present. Descriptions of these uncertainties determine the trade-off between achievable performance and robustness of the control design. In this paper it is shown that a controller synthesized for a plant model which is not described accurately by the nominal and uncertainty models may be unstable or exhibit poor performance when implemented on the actual system. In contrast, accurate structured uncertainty descriptions lead to controllers which achieve high performance when implemented on the experimental facility. It is also shown that similar performance, theoretically and experimentally, is obtained for a surprisingly wide range of uncertain levels in the design model. This suggests that while it is important to have reasonable structured uncertainty models, it may not always be necessary to pin down precise levels (i.e., weights) of uncertainty. Experimental results are presented which substantiate these conclusions.
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©1994 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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Previously Published Citation
Balas, G. J. and Doyle, J. C. (1994). "Robustness and Performance Trade-Offs in Control Design for Flexible Structures." IEEE Transactions on Control Systems Technology. 2(4), 352-361.
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Balas, Gary J.; Doyle, John C.. (1994). Robustness and Performance Trade-Offs in Control Design for Flexible Structures. Retrieved from the University Digital Conservancy, https://hdl.handle.net/11299/37272.
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