Integrated Servo-Mechanical Design of Robust Mechatronics Based on Ambiguous Chance Constraints

Abstract

In this brief, we propose a convex separable parametrization technique for finite frequency reshaping of the mechanical plant and low-order controller in high-performance mechatronic systems simultaneously. Using the generalized Kalman–Yakubovich–Popov lemma with low-order moments and support for parametric uncertainties, the individual chance-constrained robust stability criterion is formulated and solved via several convex linear matrix inequalities while ensuring stable zeros with a positive realness condition. Our simulation results on the Pb–Zr–Ti active suspension in a commercial $3.5''$ dual-stage hard disk drive achieve a high-bandwidth control system and desired disturbance attenuation capabilities, with a stability of 98.2% in proportion of perturbed systems as compared with standard methods in the current literature.