Study on Robust Control for a Flexible Beam

• Main Authors: Wei-Chih Su, 蘇暐智
• Other Authors: Chien-Hsiang Chao
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/95519343504790623186

碩士 === 國立中山大學 === 機械與機電工程學系研究所 === 91 === The purpose of this paper is to study the design of robust control for a flexible beam. First, the finite element method (FEM) is used to formulate the ordinary differential equations (ODEs) of the dynamic system of the beam model, and a controller is designed via the H-inf control theory. From the computer simulation results, the following conclusions could be drawn. 1. The developed controller is capable of precision positioning and tolerating external disturbance. 2. The robust stability for the system is assured. Furthermore, robust control of linear one-dimensional systems is extended here to two-dimensional systems. The finite difference method (FDM) is applied to partial differential equations (PDEs) to obtain the so-called Roesser discrete state-space model. We discussed the application of H∞ control for two-dimensional systems and the design of H-inf controller is formulated into a convex optimization problem characterized by linear matrix inequalities (LMIs). Finally, the solutions of the LMIs are then used to construct a two-dimensional H∞ controller.