A state-space approach for the control of dynamically substructured systems

Abstract

This paper addresses a state-space approach to dynamically substructured systems and associated controller design. Dynamic substructuring enables full-size, critical components to be physically tested, whilst the remaining parts are simulated in real-time. The feedback of dynamic constraints and synchronization of variables must be done at the substructuring interface. High quality control is required to compensate for unwanted dynamics introduced by additional actuator system(s) within the physical substructure. A state-based substructuring framework is proposed in this paper, which is used to design both a state feedback linear substructuring controller and an H ∞ controller. The framework and controller synthesis are applied to a single-mode quasi-motorcycle substructuring problem for illustration of the concepts and comparison of controller designs.