Minimax design of prefilters for maneuvering flexible structures

摘要

This paper focuses on the design of prefilters for maneuvering structures with the objective of desensitizing the controller to errors in the system model. Given information about the expected variation of the uncertain parameters, a minimax optimization problem is formulated to minimize the maximum value of the residual energy over the range of the uncertain parameter. The proposed technique is illustrated on a spring-mass-dashpot system whit uncertainties in both the damping and stiffness constants and on a two-mass two-spring, two input system.