Abstract
Robust control is applied to systems with uncertainties and disturbances. Above all, the H∞ loop shaping method is known to achieve good control performance and robustness. However, this method takes much time to build the mathematical model of an actual plant and its uncertainty. This paper proposes a controller tuning method which only uses frequency responses of the plant. In this method, the controller is designed by iterative linear-matrix-inequality (LMI) optimisation using frequency responses of the plant. Since the controller is designed without the modelling, identification cost is expected to be saved compared with the model-based approach. Moreover, a fixed structural controller such as a proportional-differential (PD) or a proportional-integral-differential (PID) controller is readily designed. The effectiveness of the proposed method is verified through the experiment for a tension-and-velocity control apparatus, and comparison with the other method is given in the last of this paper.
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