Robust control of a 360/spl deg/ flexible arm using the combined pole placement/sensitivity function shaping method

摘要

The control of a 360/spl deg/ flexible arm is investigated both from a theoretical and practical point of view. Based on identified discrete time models of the arm, a robust linear digital controller is designed using the combined pole placement/sensitivity functions shaping method. The particularities of the flexible arm and of the sensor used for the measure of the tip position are taken in account for the design and implementation of the control system. Extensive experimental results are given.