Non-diagonal H∞ weighting function design: Exploiting spatio-temporal deformations in precision motion control. (February 2015)

• Record Type: Journal Article
• Authors: Boeren, Frank; van Herpen, Robbert; Oomen, Tom; van de Wal, Marc; Steinbuch, Maarten
• Is Part Of: Control engineering practice. Volume 35(2015)
• Page Start: 35
• Page End: 42
• Publication Date: 2015-02
• Subjects: Control design -- Multivariable control -- H∞-control -- Motion control -- Loop-shaping; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2014.11.001
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: Model-based control design requires a careful specification of performance and robustness requirements. In typical norm-based control designs, performance and robustness requirements are specified in a scalar optimization criterion, even for complex multivariable systems. This paper aims to develop a novel approach for the formulation of this optimization criterion for multivariable motion systems that exhibit spatio-temporal deformations. To achieve this, characteristics of the underlying system are exploited to design multivariable weighting functions. In contrast to pre-existing approaches, which typically lead to diagonal weighting functions, the proposed approach enables the design of non-diagonal weighting functions. Extensive experimental results confirm that the proposed procedure can significantly improve the performance of an industrial motion system compared to earlier approaches.