Abstract
In positioning control problem, generally, the influence of uncertainty in a controlled object model increases at the period of stoppage. That is, it possesses a nonstationary characteristic. For such a problem, this study presents a nonstationary robust control method (NRCM) taking account of nonstationary influence of uncertainty. In this method, we define a frequency-shaped weight and a time-varying coefficient on unstructured uncertainty. Moreover, we introduce the generalized plant including them. The nonstationary controller is derived from the combination of the following two criteria. The first one is a time-varying game-type criterion function. The second one is the criterion function on the error between the responses of the nominal system and the uncertain system with the controller derived from the first one. Therefore, NRCM corresponds to the optimization problem based upon the coupled criteria. From its application to a positioning control problem of a flexible structure, the usefulness of the method is verified numerically and experimentally.
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