Abstract
In this paper, the modeling and control of flexible structure systems are studied by taking an elastic arm system as an example. Especially, high-speed positioning control suppressing spillover instability is examined. First of all, an equation of motion is derived using the finite element method for a controlled object, and a modal analysis is applied to the equation in order to obtain a reduced order model of the object. Subsequently, the transfer function method based on design freedom is adopted to design the controller. The effectiveness of the controller derived by this method is demonstrated in computer simulation results on time responses. Also, the results are compared with those obtained by the theory of optimal control.
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