Abstract
This paper shows, by a numerical example, that there is a certain separation property in the design of mechanical control systems. In particular, wc point out that the H2 performance of a servo-tracking system, achievable by an optimal dynamic output feedback controller, is critically dependent upon certain open-loop properties such as the in-phase, the positive-real, and the minimum-phase properties that the mechanical system possesses. Some equivalence and inclusion relationships among these properties are proved. Finally, a systematic procedure for designing a positive-real mechanical system is proposed, utilizing powerful convex programming techniques. A design example of a hard disc drive is given to illustrate the procedure.
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