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Robust Control Of A Flexible Manipulator Arm: A Benchmark Problem
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
ABB Corporate Research, Sweden.
2006 (English)Report (Other academic)
Abstract [en]

A control engineering benchmark problem with industrial relevance is presented. The process is a simulation model of a nonlinear four-mass system, which should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. The control problem concerns only the so-called regulator problem.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2006. , 9 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2685
Keyword [en]
Robust control, Benchmark examples, Manipulators, Disturbance rejection, Flexible arms, QFT, Sliding mode
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-56083ISRN: LiTH-ISY-R-2685OAI: diva2:316852
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-09-03Bibliographically approved

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Moberg, Stig
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Automatic ControlThe Institute of Technology
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ReferencesLink to record
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