MATEC Web of Conferences
Volume 42, 20162015 The 3rd International Conference on Control, Mechatronics and Automation (ICCMA 2015)
|Number of page(s)||7|
|Section||Automation control theory and Applications|
|Published online||17 February 2016|
Sampled Data Robust Control of an Under-Actuated Electromechanical System with Input Delay
National University of Sciences and Technology, Department of Electrical Engineering, 44000 Islamabad, Pakistan
This paper focuses on sampled data control of an under-actuated electromechanical system with input delay, subjected to both parametric uncertainty and exogenous disturbances. The system is stabilized by a robust H∞ controller that stabilizes the closed loop system and attains a specified level of perturbation attenuation for all permissible parametric uncertainty. The proposed H∞ controller is designed for the orientation control of an under-actuated electromechanical system which is a customized drill machine. The controller is designed on the basis of discrete time equivalent model of the system which is fully actuated and time invariant. The controller performance is evaluated on the basis of Monte Carlo simulations.
© Owned by the authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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