Robust control for a noncollocated spring-mass system

Abstract

Robust control laws are presented for an undamped pair of coupled masses with a noncollocated sensor and actuator. This simple problem captures many of the features of more complex aircraft and space structure vibration control problems. The control problem is formulated in the structured singular value framework, which addresses the stability robustness to parameter variations directly. Controllers are designed by D-K iteration (commonly called /* synthesis), and the resulting high-order controllers are reduced using Hankel model reduction. Design specifications such as settling time, actuator constraints, insensitivity to measurement noise, and parameter uncertainty are achieved by the resulting controllers.