This paper focuses on the design of a linear robust controller for a mechatronic system in the presence of real parametric and non-parametric frequency-dependent uncertainties. An H ∞  loop-shaping control design procedure is compared with a signal-based H ∞  control. The comparison of the robust controllers is carried out in the context of an active magnetic bearing rotor system. Experimental results demonstrate the better robust stability of the signal-based approach. A genetic algorithm is essential to credible comparison of different design approaches.
['Rafal P. Jastrzebski', 'Katja Hynynen', 'Alexander Smirnov']
Case study comparison of linear H ∞ loop-shaping design and signal-based H ∞ control