Abstract

The control system of a positioning mechanism with resonance and Coulomb friction has been designed using H/sub /spl infin// control theory, and the control performance has been verified by computer simulation and experimental analysis. DGKF type H/sub /spl infin// control with scalar weighting factors and GD type H/sub /spl infin// control with frequency-dependent weighting function based on integral action were utilized for designing the control system. The followings have been confirmed from this study: (1) H/sub /spl infin// control has good robustness properties for a wide range of operating conditions in the presence of external disturbances such as Coulomb friction. (2) DGKF type H/sub /spl infin// controller presents better convergence and robustness properties than GD type H/sub /spl infin// controller.

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