A
Hello all,
I am new to this forum, so would like to start with a brief introduction. I am a 4th year Engineering student, and am majoring in Control systems.
Currently i am attempting to control a flexure based feed unit using MATLAB and SIMULINK. A mechanical model has been created on simulink. The method i have employed is forming a linearised model, attempting control of this linear model using LQR and Hinfinity, followed by implementation of this controller on the experimental setup (using DSpace).
Currently i have successfully formed the LQR control and Hinfinity control for the mechanical model on simulink. however there is a problem when i include saturation (an integral part of the loop. since the real system would not be able to go beyond 120 um in displacement). LQR works fine, but Hinfinity , which was initially stabilising to the required end positions, is not stable anymore!!!! what might be causing the problem
here are some more details:
It is a 2 input 2 output system
the command used is <hinfsyn>, uncertainty is modeled accurately
system fully observable and controllable
any info will be helpful, and let me know if there is any additional information i could provide.
Anwesha
I am new to this forum, so would like to start with a brief introduction. I am a 4th year Engineering student, and am majoring in Control systems.
Currently i am attempting to control a flexure based feed unit using MATLAB and SIMULINK. A mechanical model has been created on simulink. The method i have employed is forming a linearised model, attempting control of this linear model using LQR and Hinfinity, followed by implementation of this controller on the experimental setup (using DSpace).
Currently i have successfully formed the LQR control and Hinfinity control for the mechanical model on simulink. however there is a problem when i include saturation (an integral part of the loop. since the real system would not be able to go beyond 120 um in displacement). LQR works fine, but Hinfinity , which was initially stabilising to the required end positions, is not stable anymore!!!! what might be causing the problem
here are some more details:
It is a 2 input 2 output system
the command used is <hinfsyn>, uncertainty is modeled accurately
system fully observable and controllable
any info will be helpful, and let me know if there is any additional information i could provide.
Anwesha