### 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 |

### 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

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## 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