The design method of two-degree-of-freedom controller usingμ-synthesis

摘要

This paper presents the design method of a two-degree-of-freedom(2 DOF) controller system based on an internal structure. The authorsshow the internal structure of the system and derive the condition whichclearly shows the equivalence between the disturbance observer basedcontroller and the generalized 2 DOF controller. They then propose thedesign method of free parameters using μ-synthesis taking intoaccount the structure of the system and Q tuning so as to satisfy thederived conditions. Finally, the authors show the simulation results ofvelocity control of a 2-mass system and confirm the effectiveness of theproposed method