Robust Control of a Flexible Manipulator Arm: A Benchmark Problem
| Authors: | Moberg Stig, ABB Automation Technologies AB - Robotics, Sweden
Öhr Jonas, ABB AB - Corporate Research, Sweden |
|---|
| Topic: | 2.5 Robust Control |
|---|
| Session: | Robust Controller Synthesis |
|---|
| Keywords: | Robust control, benchmark examples, manipulators, disturbance rejection, flexible arms, QFT, sliding mode |
|---|
Abstract
A control engineering benchmark problem with industrial relevance is presented. The process is a simulation model of a nonlinear four-mass system, which should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. The control problem concerns only the so-called regulator problem.
