비선형 마찰을 포함한 시스템의 H-infinity 적분 제어기 설계에 대한 연구

Abstract

Nonlinear frictions which generate many problems in control system exist in almost all the servor control systems. In this paper, the design procedure which employs Ho。 integral controller including two integrators with performance weight is proposed to improve performance of the control system. Limit cycles are unavoidable by the effect of interaction between two integrators and coulomb friction in these system. The describing function method is used to check the limit cycles and determine the coefficients of performance weights to minimize the effect of the limit cycles.