International Federation of Automatic Control
3rd IFAC SYMPOSIUM on SYSTEM, STRUCTURE and CONTROL
Foz do Iguassu, Brazil October 17th - 19th, 2007
| International Federation of Automatic Control | |
Session FE1: Robust Control IIChair: Shinji Hara - Japan Co-chair: Shankar Bhattacharyya - United States Room: Assunção 2007-10-19 From 16:00 to 18:00 | |
| Design and Implementation of Robust Control Concepts μ-Synthesis and Sliding Mode Control Peter Kytka; Francis Fomi; Rainer Nordmann Contact: Peter Kytka - Germany | |
| 16:20-16:40 | |
| Abstract: | |
| This paper presents the investigation results and a controller implementation example of robust control concepts: non linear sliding mode control and linear model based µ-synthesis control. The challenge to transfer modern control concepts from research to industrial application is tackled by showing necessary steps performed for the controller implementation on a milling machine control unit as well as designing as simple as possible control laws. A two mass oscillator driven by a synchronous motor is used as test rig representing a x-axis device in milling machines. Experimental results are presented and compared with state of the art technologies. The μ-controller on the control unit is compared with cascaded PI-PI-control. For the Sliding Mode Controller the Robustness against varying nonlinear disturbance, i.e. Friction is compared to Model Based Friction Compensation. Copyright © 2007 IFAC. | |