공진 효과 및 쿨롱 마찰이 있는 서보 시스템에 대한 $\mu$-제어기 설계

$\mu$-Controller Design for Servo Systems Containing Resonance Effects and Coulomb Frictions

In almost all the servo systems, especially for the robot manipulators and numerical control systems, there are resonance effects and nonlinear frictions which should be considered in designing servo controllers. In this paper to compensate friction and track the step-input without steady-state error, the original system is augmented with an integrator and employes $\mu$-Controller design method $\mu$-Controller design method enables to meet not only performance requirements but robust stabilities simultaneously. And there may exist a limit cycles due to interaction between integrator and nonlinear friction. With describing function method, the possibility of limit cycle is checked.