High Speed Positioning of a Pneumatic Control System with a $H_{\infty}$ Controller

$H_{\infty}$ 제어기를 이용한 공기압 구동시스템의 위치제어 성능 향상에 관한 연구

To improve control performance, especially positioning speed, of a pneumatic positioning system, dynamic characteristics of a control valve should be considered. In case we design controller including dynamic characteristics of a control valve, it's not easy to design controller gain using simple state feedback because degree of a control system is increased. This study designed controller using loop shaping of $H_{\infty}$ control theory for a model composed of a pneumatic actuator and a control valve, and positioning experiment using this controller was performed. As a result, it was verified that the controller is useful for high speed positioning of a pneumatic positioning system.