Abstract
Loop-shapingH ∞ control with normalized coprime factorization is applied to a servo motor-driven precision positioning system. A high-gain controller is designed to attenuate the position errors caused by friction. The analysis of the controller shows that no limit cycle is introduced by the presence of actuator saturation. The designedH ∞ control system is experimentally tested on a rotary index table which requires a high-accuracy position control. The results show that the suggested control scheme improves the positional accuracy and its robustness to the model perturbation and external disturbances without any compensation scheme for friction.
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