Robust control for carriage drum printer

A dynamic controller is developed for a nonlinear carriage drum printer model. The nonlinearities include static and Coulomb friction. A change in operating points also introduces other nonlinearities which can be modeled as perturbation feedbacks. Frequency weighting on the input is used to achieve decoupling between the carriage and drum systems. The H/sub 2/ suboptimal control theory is the basis for calculation of the proposed dynamic controller. The H/sub 2/ controller design theory is modified by parameterizing the state matrix by the operating point parameter variation which is realized by a table lookup routine. Another approach using the H/sub /spl infin// optimal criteria is developed as a comparison to the H/sub 2/ based controller.<>