On Regulator Stability in Control of Flexible Mechanical Systems
2001 (English)In: Proceedings of the 32nd International Symposium on Robotics, 2001Conference paper (Refereed)
Feed-back control of a flexible mechanical system is considered using a linear two-mass model. It is found that unstable controllers often occur when the performance requirements of the closed loop system are made too high. It is illustrated how potential windup problems caused by unstable controllers in combination with input saturations can be handled. A remaining consequence of the use of unstable controllers is that it puts stronger requirements on the accuracy of the model. This is illustrated using the Bode integral.
Place, publisher, year, edition, pages
Robotics, Flexible systems, Stability
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-90818ISBN: 9788988366042OAI: oai:DiVA.org:liu-90818DiVA: diva2:616341
32nd International Symposium on Robotics, Seoul, South Korea, April, 2001