Journal of the Korean Society of Fisheries and Ocean Technology (수산해양기술연구)

The Korean Society of Fisheries and Ocean Technology (한국수산해양기술학회)
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H-infinity controller design for robust speed control against disturbance and model uncertainty of DC motors

외란과 모델 불확실성에 강인한 DC모터의 속도 제어용 H-infinity 제어기 설계

  • JEONG, Tae-Young (Training Ship, Pukyong National University) ;
  • KIM, Dong-Geun (Graduate School of Refrigeration and Air-conditioning Engineering, Pukyong National University)
  • 정태영 (부경대학교 실습선) ;
  • 김동근 (부경대학교 대학원 냉동공조공학과)
  • Received : 2022.06.03
  • Accepted : 2022.08.12
  • Published : 2022.08.31
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Abstract

This paper describes the design of H-infinity controller for robust control of a DC motor system. The suggested controller can ensure robustness against disturbance and model uncertainty by minimizing H-infinity norm of the transfer function from exogenous input to performance output and applying the small gain theorem. In particular, the controller was designed to reduce the effects of disturbance and model uncertainty simultaneously by formalizing these problems as a mixed sensitivity problem. The validity of the proposed controller was demonstrated by computer simulations and real experiments. Moreover, the effectiveness of the proposed controller was confirmed by comparing its performance with PI controller, which was tested under the same experimental condition as the H-infinity controller.

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Acknowledgement

이 논문은 부경대학교 자율창의학술연구비(2021년)에 의하여 연구되었음.

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