Abstract
A new control scheme based on H∞ control theory is proposed for precise positioning. In comparison with PID control, the validity of the proposed scheme has been confirmed by simulations at the micron scale. The effects of disturbances such as Coulomb friction and mechanical resonance mode are treated explicitly at the controller design stage. The proposed control scheme exhibits rapid response with good suppression of the effects of resonance vibration and Coulomb friction. Root locus simulation results for the closed-loop transfer function have shown that H∞ control is able to stabilise the mechanical resonance frequency mode, whereas PID control is not. Frequency response simulation results for the closed-loop transfer function of H∞ control have shown that the cut-off frequency increases and the mechanical resonance mode stabilises simultaneously when the H∞ norm condition, γ, is decreased.
Published Version
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