In this paper, we design a robust lead compensator for a real Electromechanical Actuator (EMA) harmonic drive by introducing an approach based on H∞ control theory. Here, we address three main topics; experimental identification, uncertainty modelling, and robust control design for a real EMA harmonic drive system. This method verifies good tradeoff between the powerful H∞ controller and the un...

We propose a model validation procedure that consists of a prediction error identi6cation experiment with a full order model. It delivers a parametric uncertainty ellipsoid and a corresponding set of parameterized transfer functions, which we call prediction error (PE) unceminty set. Such uncertainty set differs from the classical uncertainty descriptions used in robust control analysis and des...

In this paper, the dynamic model of a three-level neutral point clamped (NPC) converter with neutral-point voltage-balance control (NPVBC) and input power factor correction for high-speed railway tractions is derived. And accordingly, a feedback controller is designed to meet the given voltage regulation control specifications. As the variation of converter parameters occurs, a compensation sig...

In this paper we give a necessary and suÆcient condition for an Internal Model Control (IMC) structure to be robustly L2 stable with respect to H1 bounded model uncertainty and in presence of input saturation. This condition is used for the design of a controller that is the best H1 approximation to \perfect" linear control among all controllers guaranteeing L2 stability in the presence of actu...

This paper deals with the combination of system identiica-tion and robust controller design. Recent results on estimation of frequency domain model uncertainty are utilized in robust analysis and controller design using. It is shown how estimated frequency domain uncertainty ellipses may be represented within the general-framework using a mixed perturbation set. A methodology for synthesizing o...

Due to the phasing out of nuclear energy in Germany there are a growing number of nuclear facilities that have to be decommissioned within the next years. In this context a multitude of surfaces in nuclear facilities have to be decontaminated. Manipulator-deployed systems offer a suitable solution and are properly designed for this kind of task. Beyond that they can be used for the processing o...

This paper focuses on the problem of robust control for Takagi–Sugeno (T–S) fuzzy systemswith time-delay. The delay-dependent stability analysis and controller synthesis have been addressed. The free weighting matrix method has been used for stability analysis and controller synthesis. New and less conservative delay-dependent stability conditions are proposed in terms of linear matrix inequali...

Various optimal control strategies exist in the literature. Prominent approaches are Robust Control and Linear Quadratic Regulators, the first one being related to the H∞ norm of a system, the second one to the H norm. In 1994, F. De Bruyne et al [1] showed that assuming knowledge of the poles of a transfer function one can derive upper bounds on the H∞ norm as a constant multiple of its H norm...

This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with wellestablished stability properties while an LQR optimal design is adopted f...

In this paper, adaptive control is studied for a class of nonlinear discrete-time systems in strict-feedback form with unknown control directions. The system is transformed to an n-step ahead predictor, based on which an adaptive control employing the predicted future states has been proposed. The discrete Nussbaum gain is exploited to overcome the difficulty caused by unknown control direction...