### Abstract

We propose an integrated approach of robust controller design for generalized mechanical systems which are composed of interconnected basic mechanical components. More precisely, we assume that the mass is uncertain, and the damping matrix and the stiffness matrix are expressed by a linear combination of several distribution matrices. For this system, we consider a kind of static output feedback with respect to the generalized measurement output vector and its derivative, where the control specification is to require stability of the closed-loop system and certain H_{∞} disturbance attenuation level. The structure of the controller is proposed utilizing the mechanical system's physical characteristics. By using the bounded real lemma with the Lyapunov matrix variable focusing on the system matrix's feature, we reduce the control problem to solving simultaneous LMIs with respect to all the variables.

Original language | English |
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Title of host publication | 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 |

Publisher | Institute of Electrical and Electronics Engineers Inc. |

Pages | 759-764 |

Number of pages | 6 |

ISBN (Electronic) | 9784907764487 |

DOIs | |

Publication status | Published - 2015 Sep 30 |

Event | 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China Duration: 2015 Jul 28 → 2015 Jul 30 |

### Other

Other | 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 |
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Country | China |

City | Hangzhou |

Period | 15/7/28 → 15/7/30 |

### Fingerprint

### Keywords

- damping matrix
- Generalized mechanical systems
- H control
- linear matrix inequalities (LMIs)
- static output feedback
- stiffness matrix
- uncertain mass

### ASJC Scopus subject areas

- Control and Systems Engineering

### Cite this

_{∞}controller design for generalized mechanical systems: An approach utilizing physical characteristics. In

*2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015*(pp. 759-764). [7285435] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2015.7285435

**Robust H _{∞} controller design for generalized mechanical systems : An approach utilizing physical characteristics.** / Zhai, Guisheng; Naito, Nobufumi; Huang, Chi.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

_{∞}controller design for generalized mechanical systems: An approach utilizing physical characteristics. in

*2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015.*, 7285435, Institute of Electrical and Electronics Engineers Inc., pp. 759-764, 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, Hangzhou, China, 15/7/28. https://doi.org/10.1109/SICE.2015.7285435

_{∞}controller design for generalized mechanical systems: An approach utilizing physical characteristics. In 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 759-764. 7285435 https://doi.org/10.1109/SICE.2015.7285435

}

TY - GEN

T1 - Robust H∞ controller design for generalized mechanical systems

T2 - An approach utilizing physical characteristics

AU - Zhai, Guisheng

AU - Naito, Nobufumi

AU - Huang, Chi

PY - 2015/9/30

Y1 - 2015/9/30

N2 - We propose an integrated approach of robust controller design for generalized mechanical systems which are composed of interconnected basic mechanical components. More precisely, we assume that the mass is uncertain, and the damping matrix and the stiffness matrix are expressed by a linear combination of several distribution matrices. For this system, we consider a kind of static output feedback with respect to the generalized measurement output vector and its derivative, where the control specification is to require stability of the closed-loop system and certain H∞ disturbance attenuation level. The structure of the controller is proposed utilizing the mechanical system's physical characteristics. By using the bounded real lemma with the Lyapunov matrix variable focusing on the system matrix's feature, we reduce the control problem to solving simultaneous LMIs with respect to all the variables.

AB - We propose an integrated approach of robust controller design for generalized mechanical systems which are composed of interconnected basic mechanical components. More precisely, we assume that the mass is uncertain, and the damping matrix and the stiffness matrix are expressed by a linear combination of several distribution matrices. For this system, we consider a kind of static output feedback with respect to the generalized measurement output vector and its derivative, where the control specification is to require stability of the closed-loop system and certain H∞ disturbance attenuation level. The structure of the controller is proposed utilizing the mechanical system's physical characteristics. By using the bounded real lemma with the Lyapunov matrix variable focusing on the system matrix's feature, we reduce the control problem to solving simultaneous LMIs with respect to all the variables.

KW - damping matrix

KW - Generalized mechanical systems

KW - H control

KW - linear matrix inequalities (LMIs)

KW - static output feedback

KW - stiffness matrix

KW - uncertain mass

UR - http://www.scopus.com/inward/record.url?scp=84960156888&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84960156888&partnerID=8YFLogxK

U2 - 10.1109/SICE.2015.7285435

DO - 10.1109/SICE.2015.7285435

M3 - Conference contribution

AN - SCOPUS:84960156888

SP - 759

EP - 764

BT - 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015

PB - Institute of Electrical and Electronics Engineers Inc.

ER -