Abstract
The robust control based H ∞ norm minimization is considered to achieve robust stability and enhance the performance of the lining system, which is a servosystem applied for railroads laying machines. The system is characterized by the inability of determining its parameters accurately; specifically, load, friction, leakage and the disturbance force. With the characteristics of the proportional control valve (42 LPM, bandwidth of 6 Hz), a robust controller is designed and implemented upon the lining system. While the robust performance is satisfied; with a maximum overshoot of 14% and steady state error not greater than 0.5%; the system bandwidth is limited to maintain the system robustness. Otherwise, a larger valve capacity (85 LPM, 10 Hz) is required to increase the system bandwidth. While the H ∞ requires lengthy messy mathematical expressions connected with the problem formulation; the closed loop objectives met robustly over the whole range of uncertain parameters.
Published Version
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