PERFORMANCE ENHANCEMENT ON THE BASIS OF IDENTIFIED MODEL UNCERTAINTY SETS WITH APPLICATION TO A CD MECHANISM

摘要

We address the design of robust feedback controllers based on nominal models and model error bounds that are obtained from measurement data. In order to keep controller complexity limited an approach is adopted where controller synthesis isperformed on the basis of a low order (approximate) nominal model; prior to controller implementation the robust performance of the controller is evaluated based on a (highly accurate) system uncertainty set employing a dual Youla uncertainty structure.The procedure is based on an iterative scheme of identification and control design and is experimentally verified on the radial tracking control of a Compact Disc mechanism.