• Title, Summary, Keyword: H_/$H_{\infty}$ performance

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Mixed $H^{2}$/$H^{\infty}$ controller design for linear system with time delay and parameter uncertainty (시간지연 및 파라미터 불확실성을 갖는 선형시스템의 혼합 $H^{2}$/$H^{\infty}$ 제어기 설계)

  • 이갑래;정은태;박홍배
    • 제어로봇시스템학회:학술대회논문집
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    • pp.560-564
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    • 1996
  • A mixed H$^{2}$/$H^{\infty}$ controller design method for linear systems with time delay in all variables and parameter uncertainties in all system matrices is proposed. Robust $H^{\infty}$ performance and H$^{2}$ performance condition that accounts for model-matching of closed loop system and disturbance rejection is also derived. With expressing uncertain system with linear fractional transformation form, we transform the robust stability and performance problem to the H$^{2}$/$H^{\infty}$ optimization problem and design a mixed H$^{2}$/$H^{\infty}$ controller. Using the proposed method, mixed H$^{2}$/$H^{\infty}$ controller for underwater vehicle with time delay and parameter variations are designed. Simulations of a design example with hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.t performance.ance.

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A mixed $H_2/ H_\infty$ digital control of Inverted pendulum system (도립진자 시스템의 혼합$H_2/ H_\infty$ 디지털 제어)

  • 박종우;곽칠성
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.4 no.5
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    • pp.1111-1116
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    • 2000
  • The mixed $H_2/ H_\infty$ control method is one of positive approaches to design a controller having both the$H_2$-performance and the $H_\infty$-robust stability. In this paper, Firstly, The tracking Performance to be designed has been represented as $H_2$-norms for the plants with uncertainties. Secondly, $H_\infty$-norm have been set up in order to ensure the robust stabilities. The mixed digital controllers have been designed for an inverted system. The mixed $H_2/ H_\infty$digital controller for the inverted pendulum system was intended to stabilize the unstability of the plant together with the good tracking Performance.

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$H_{2}$/$H_{\infty}$ control of active suspension system (능동 현가 시스템을 위한 $H_{2}$/$H_{\infty}$ 제어기 설계)

  • 정우영;김상우;원상철
    • 제어로봇시스템학회:학술대회논문집
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    • pp.888-891
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    • 1996
  • The objective of a mixed H$_{2}$/H$_{\infty}$ controller of active suspension system is to achieve not only the general performance improvement(H$_{2}$) but also the worst case disturbance rejection(H$_{\infty}$). In this paper, a mixed H$_{2}$/H$_{\infty}$ controller for an active suspension system, comparing the performance with that of an H$_{2}$ controller and of an H$_{\infty}$ controller.ler.EX> controller.

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A Design on Model-Following $H_{\infty}$ Control System Having Robust Performance (강인한 성능을 가지는 모델추종형 $H_{\infty}$ 제어 시스템의 설계)

  • Hwang, Hyun-Joon
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.13 no.5
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    • pp.913-921
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    • 2009
  • This paper suggests a deign method of the model-following $H{\infty}$ control system having robust performance. This $H{\infty}$ control system is designed by applying genetic algorithm(GA) with reference model to the optimal determination of weighting functions and design parameter ${\gamma}$ that are given by $H{\infty}$ control theory. These weighting functions and design parameter ${\gamma}$ are optimized simultaneously in the search domain guaranteeing the robust performance of closed-loop system. The effectiveness of this $H_{\infty}$ control system is verified by computer simulation.

Mixed H_2/H_{\infty}$ controller design algorithm for robust performance optimization (견실성능 최적화를 위한 혼합 H_2/H_{\infty}$ 제어기설계 알고리즘)

  • 김종해;방경호;박홍배
    • Journal of the Korean Institute of Telematics and Electronics B
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    • v.33B no.5
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    • pp.10-16
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    • 1996
  • In this paper, we consider a generalized mixed H_2/H_{\infty}$ output feedback problem. It is finding an internally stabilizing controller that minimizes a mixed $H_{2}$/ $H_{performance}$ measure. We show that a generalized mixed H_2/H_{\infty}$ system with two exogenous inputs and two controlled signals is transformed into auxiliary system with two exogenous inputs and one controlled signal. The two systems have equivalent performance. Therefore, a complete solution of generalized mixed H_2/H_{\infty}$ output feedback problem is achieved by existing results of mixed H_2/H_{\infty}$ control theory.

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Performance Analyses of TDF $H_\infty$ Controllers for Uncertain Systems (불확실한 시스템에 대한 2-자유도 $H_\infty$ 제어기의 성능해석)

  • 강영중;이군석;권오규
    • 제어로봇시스템학회:학술대회논문집
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    • pp.477-481
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    • 1993
  • The aim of this paper is to analyze via computer simulation the robust performance of TDF(Two Degree of Freedom) H.$_{\infty}$ controller for uncertain systems having parameter uncertainty. We apply the TDF H$_{\infty}$ controller to autopilot design. We evaluate the robust performance of the TDF H$_{\infty}$ controller for uncertain systems and present the guaranteed bound of robust performance via computer simulation.on.

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Development of Continuous/Discrete Mixed $H_2$/H$\infty$ Filtering Design Algorithms for Time Delay Systems

  • Kim, Jong-Hae
    • Transactions on Control, Automation and Systems Engineering
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    • v.2 no.3
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    • pp.163-168
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    • 2000
  • The problems of mixed $H_2/H_{\infty}$ filtering design fer continuous and discrete time linear systems with time delay are investigated. The main purpose is to design a stable mixed $H_2/H_{\infty}$ filter which minimizes the H$_2$Performance measure satisfying a prescribed H$_{\infty}$ norm bound on the closed loop system in continuous-time case and discrete-time case, respectively. The sufficient conditions of existence of filter, the mixed $H_2/H_{\infty}$ filter design method, and the upper bound of performance measure are proposed by LMI(linear matrix inequality) techniques in terms of all finding variables. Also, we present optimization problems in order to get the optimal mixed $H_2/H_{\infty}$ filter in continuous and discrete time case, respectively.

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$H_\infty$ Depth Controller Design for Underwater Vehicles (수중운동체의 $H_\infty$ 심도제어기 설계)

  • 이만형;정금영;김인수;주효남;양승윤
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.5
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    • pp.345-355
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    • 2000
  • In this paper, the depth controller of an underwater vehicle based on an $H_\infty$ servo control is designed for the depth keeping of the underwater vehicle under wave disturbances. The depth controller is designed in the form of the $H_\infty$ servo controller, which has robust tracking property, and an $H_\infty$ servo problem is considered for the $H_\infty$ servo controller design. In order to solve the $H_\infty$ servo problem for the underwater vehicle, this problem is modified as an $H_\infty$ control problem for the generalized plant that includes a reference input mode, and a suboptimal solution that satisfies a given performance criteria is calculated with the LMI (Linear Matrix Inequality) approach. The $H_\infty$ servo controller is designed to have robust stability about the perturbation of the parameters of the underwater vehicle and the robust tracking property of the underwater vehicle depth under wave force and moment disturbances. The performance, robustness about the uncertainties, and depth tracking property, of the designed depth controller is evaluated by computer simulation, and finally these simulation results show the usefulness and applicability of the proposed $H_\infty$ depth control system.

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A Design of GA-Based Model-Following Boiler-Turbine H∞ Control System Having Robust Performance (유전 알고리즘 기반의 강인한 성능을 가지는 모델추종형 보일러-터빈 H∞ 제어 시스템의 설계)

  • Hwang, Hyun-Joon
    • Journal of the Korean Society of Marine Engineering
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    • v.36 no.1
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    • pp.126-132
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    • 2012
  • This paper suggests a design method of the model-following H${\infty}$ control system having robust performance. This H${\infty}$ control system is designed by applying genetic algorithm(GA) with reference model to the optimal determination of weighting functions and design parameter ${\gamma}$ that are given by Glover-Doyle algorithm which can design H${\infty}$ controller in the state space. These weighting functions and design parameter ${\gamma}$ are optimized simultaneously in the search domain guaranteeing the robust performance of closed-loop system. The effectiveness of this H${\infty}$ control system is verified by applying to the boiler-turbine control system.

A Robust $H^{\infty}$ Controller for Active Suspensions Based on a Full-Car Model (차량의 능동형 현가장치를 위한 강인한 $H^{\infty}$ 제어기 설계)

  • Park, Jong-Hyeon;Kim, Young-Seok
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.2
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    • pp.146-154
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    • 2000
  • An $H\infty$ controller is designed for active suspensions of vehicles using 7-degree-of-freedom full-car model. Its performance robustness as well as stability robustness to system parameter variations and unmodelled dynamics are assured through the $\mu$-framework. The performance of the $H\infty$ controller is compared with that of a LQC controller in compute simulations. From the simulations it is found that the active suspension with the $H\infty$ controller reduces the acceleration and motion of the sprung mass in the heaving rolling and pitching directions when the car is driven on a normal road or through an asymmetric bump. The suspension stroke and the road holding capability are also improved with a relatively small level of power consumption. Overall the $H\infty$ controller shows a more robust performance than that of the LQG design.

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