Robust Control of a Flexible Arm
Kang-Zhi Liu, Koji Higaki and Tsutomu Mita
Dept. of Electrical and Electronics Engineering, Faculty of Engineering, Chiba University, 1-33, Yayoi-cho, Inage-ku, Chiba, 263 Japan
This paper addresses the vibration control of a flexible arm with a two-degree-of-freedom robust controller. The feedback controller is designed by H∞ control theory to achieve robust distrubance attenuation, and the feedforward controller is designed by a signal-matching method to improve the trasient response. An experiment verifies that this methodology is effective.