Servo-system design based on LQ and H∞ approaches

Abstract

This paper presents a servo controller design method based on the state space algorithm[2] for general H∞ problems. A command generator is introduced to determine the feedforward and feedback gains simultaneously by utilizing the standard H∞ controller framework. The design method is applied to a dual-actuator positioning system. A comparison between the LQ and H∞ controllers is discussed. Frequency shaping functions are incorporated into the design method for performance improvement. Simulation results are provided to show the effectiveness of the design method.