Vibration-free Control of Double Integrator Typed Motor via Loop Transfer Recovery

루프 전달 회복을 통한 이중 적분 모터의 무진동 제어

  • Received : 2010.06.10
  • Accepted : 2010.09.09
  • Published : 2010.10.20


This note proposes vibration-free motor control through modified LQG/LTR methodology. A conventional LQG/LTR method is a design tool in the frequency domain. However, unlike the conventional one, the proposed one is a time response based design method. This feature is firstly designed by parameterized settling time control gain through the target loop design procedure and the feature is secondly realized by loop transfer recovery. In order to show convergence to the target loop transfer functions, asymptotic behaviors of the open and the closed loop transfer functions are shown. At the conclusion, it is verified that the proposed method is robustly stable to parametric uncertainties through ${\mu}$-plot.


  1. Oh, J.-S., Choi, S.-B., Cho, H.-J., Lee C.-H. and Cho, M.-W., 2010, “Performance Evaluation on an Active Camera Mount System for UAV via Hardware-in-the-loop-simulation,” Proceedings of the KSNVE Twentieth Anniversary Spring Conference, pp. 136-137.
  2. Ohnishi, K., 1987, “A New Servo Method in Mechatronics,” Trans. of Japanese Society of Electrical Engineers, 107-D, pp. 83-86.
  3. Suh, S. M., 2010, “Unified $H{\infty}$ Control to Suppress Vertices of Plant Input and Output Sensitivity Functions,” to Appear in IEEE Control System Technologies.
  4. Franklin, G. F. Powell, J. D. and Emami-Naeini, A., 2002, Feedback Control of Dynamic Systems, 4Ed., Prentice-Hall.
  5. Lee, Y., Kim, K.-H., Kim, S., Lee S. J., Lim, G.-Y., Park, K.-S., Park N.-C. and Park, Y.-P., 2010, “An Experimental Study on Flying Charactereistics and Unloading Performance during Emergency Parking in HDD,” Proceedings of the KSNVE Twentieth Anniversary Spring Conference, pp. 570-571.
  6. Suh, S. M., Chung, C. C. and Lee, S.-H., 2001, “Discrete-time LQG/LTR Dual-stage Controller Design in Magnetic Disk Drives,” IEEE Transactions on Magnetics, Vol. 37, No. 4, pp. 1891-1895.
  7. Suh, S. M. and Kim, H.-Y., 2010, “All Stabilizing Disturbance Observer Design for Precise Position Control,” Proceedings of the KSNVE Twentieth Anniversary Spring Conference, pp. 672-673.
  8. Suh, S. M. and Kim, K.-H., 2010, “Vibration Free Control for Double Integrator Motor Systems via Loop Transfer Recovery,” Proceedings of the KSNVE Twentieth Anniversary Spring Conference, pp. 674-675.
  9. Goodman, G. C., 1984, “The LQG/LTR Method and Discrete-time Control Systems,” Master’s Thesis, MIT, Mechanical Engineering Department.
  10. Kwakernaak, H. and Sivan, R., 1972, Linear Optimal Control Systems, Wiley-Interscience.
  11. Burl, J. B., 1972, Linear Optimal Control $H_2$ and $H{\infty}$ Methods, Wiley-interscience.