Numerical Method of Optimization in Robust Control of Robotic and Mechatronic Complex Systems

Abstract

This article provides new numerical method of optimization of robust controllers of robotic and mechatronic complex systems. The method is based on minimizing of maximum of frequency response of control system's transfer function from disturbance to regulated coordinate. System robustness is provided by new method of limitation of search area of regulator parameters, based on radius of stability margins introduced by A.G. Alexandrov. This method of optimization consists of parametric and structural tuning of control system. Experimental results prove method fidelity.