Abstract
We consider a decoupling and servo control for the JINAMCHA system of which the cart and the pointer are coupled very strongly. The right eigenstructure assignment (i.e. simultaneous assignment of eigenvalues and right eigenvectors) scheme is used for decoupling the motions of the cart and the pointer, and the command generator tracker (CGT) is used for servo control of the JINAMCHA system. The performance of the proposed control scheme, that is, the performance of the combined control scheme of the right eigenstructure assignment and the CGT is evaluated by simulations. The results show that the proposed controller has better performance than the LQR with limiting properties and the conventional LQ servo.
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