ROBUST CONTROL BY SERVO DRIVE WITH NON-RIGID LOAD WITH H-INFINITY NORM LIMITATION
The errors of the parametrical identification of electric drive with two-mass rigid load can be the reason of unsatisfactory accuracy characteristics or full inoperability of the electric drive. In some cases there is a necessity in synthesizing the control system, which could suppress the internal perturbations caused by the abovementioned reason. The synthesis of robust controller is described on the basis of restriction of H∞ norm of output signal transfer function. The aim of the research is to find robust regulator parameters for suppressing internal perturbations. 2-Riccati method based on the model of the controlled object in the state space, supplemented with the weighting functions, is used for the calculation. The results of the study are presented as the final control system and matrices of the developed controller. The results of the analytical study is confirmed by the mathematical simulation in MatLab.