Performance Optimization with LPV Synthesis for Disturbance Attenuation in Planar Motors

Abstract

Optimizing the performance of motion control systems with variations in nonlinear parameters is not an easy task. To accomplish this task, it is important to design the controller using the linear system approach. In this study, a linear parameter varying (LPV) control method is proposed in which nonlinearities are treated as parameter variations for planar motors. The proposed control method consists of the force and torque modulation with the commutation scheme and the nonlinear current controller with H infinity state feedback control in the form of LPV synthesis to improve the position-tracking performance. An interpolated gain-scheduling controller based on LPV synthesis is determined by applying H infinity control to a linear matrix inequality technique. An interpolated gain-scheduling controller can attenuate disturbance without disturbance estimation. The effectiveness of the proposed control method is evaluated using simulation results and compared with the conventional proportional-integral-derivative control to verify both improved position-tracking performance and disturbance attenuation.