Robust Low-Order Control of a Generic Flexible Test Structure

Abstract

In this paper, the design of robust low-order controllers based on a high-order model of a generic flexible test structure with collocated sensors/actuators is considered. A new synthesis technique which combines the projective ant the positive real controlconcepts is developed and used for control design. The proposed method not only alleviates the known difficulty of the projective approach where the residual(non-retained) closed-loop modes can become unstable, it also guarantees the strictly positive realness of the controller. Two approaches for selecting the free design parameters of the design technique are provided. Based on the new technique, twoglobal controllers and one decentralized controller are designed withtheir performance evaluated and compared.