Constant Approximation of a Mixed Sensitivity H_(infinity) Control Law, and its Application to the Speed Control of a DC Motor

摘要

A mixed sensitivity H_(infinity) control law, and its constant approximation are proposed. Linear Time Invariant (LTI) Multi-Input Multi-Output (MIMO) systems are considered. The Constant Approximation of a Mixed Sensitivity H_(infinity) control law (CoAMSe) is based on asymptotic Bode approximations of low frequency. Necessary and sufficient stability conditions are given for both control laws applied to the LTI MIMO system. An implementation of the CoAMSe for the speed control of a DC motor laboratory prototype, is presented. The implementation is realized in a Programmable Logic Controller (PLC) of low computational resources. Also, a Linear MIMO unstable model of a mechanical system, illustrates the results.