Two robust control design methodologies are analyzed and compared in this article: the H-infinity control system design and the CRONE control system design. The aim of this article is to give practical considerations that will help a designer to choose between these two methodologies. The example of an electrohydraulic actuator is given in order to evaluate the implementation of each methodology and to compare the final performance.
A robust controller design is proposed for the active suspension system bench-mark problem. The CRONE control system design used is extended to unstable multivariable plants with lightly damped modes and RHP zeros. Decoupling and stabilizing controller K, is achieved for the open-loop transfer matrix. Fractional order transfer functions are used to define all the components of the diagonal open-loop transfer matrix, β. In defining the fractional open-loop transfer function β0i some elements of the plants, G0 and its inverse must be considered to achieve the stable controller. Optimisation provides the best fractional open-loop βopt. Finally, frequency domain system identification is used to find controller K=G0−1 βopt.
RESUME : Cet article présente un exemple de maquette de contrôle actif à partir de céramiques piézoélectriques.Cette maquette fait l'objet d'un projet à l'ENSICA au cours duquel les étudiants doivent mettre en oeuvre leurs connaissances en automatique et en électronique. Ce projet permet aux étudiants de mettre en place une chaîne de mesure, de concevoir et réaliser des circuits d'électronique et enfin de calculer et implémenter une loi de commande.
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