This Paper describes a general control system design method for vibration of a multi-degree-of-freedom system. A H∞ controller designed on the reduced order model makes the closed loop system not only cause no spillover phenomena, but also control the vibration on the actual model. The solution to H∞ output feedback control problems is used to design the H∞ controller. With the result of calculating the example of the four-degree-of-freedom model, the efficiency of the control system is verified. Also, the frequency-shaped LQG control desigh is made in comparison with the H∞ optimal control. It has been clear that both control methods have robustness to the spillover caused by the reduced-order model in the case of the same weighting functions. The most important result is that the H∞ optimal control has strongly robust stability to parameter variations, while the frequency-shaped LQG control does not.
|transactions of the japan society of mechanical engineers series c
|Published - 1992
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