# 2자유도 H∞ 제어기 종합 프레임웍에 기반한 유압식 Dipod 플랫폼의 강인제어기 설계

• Received : 2012.10.25
• Accepted : 2013.03.20
• Published : 2013.06.01
• 38 6

#### Abstract

A hydraulic dipod platform is used for tracking and stabilizing an antenna system to designate a satellite on a moving vehicle. The 2-DOF controller is very well suited to this controller design object because it is more flexible than the 1-DOF controller when the design object is not only the consideration between stabilizing and tracking but also the trade-off between performance and robustness. The 2-DOF controller synthesis based on the $H_{\infty}$ framework is divided into two design procedures. In this hydraulic dipod platform example, the single-step method shows better performance whereas the two-step method shows better robustness. The difference between these two synthesis results is compared using the structural property of the interconnection system matrix.

#### Keywords

2-DOF(TDF) Robust Control;Dipod Platform;$H_{\infty}$-LSDP;Feedback Controller;Feedforward Compensator

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