Passivity Motivated Controller Design for Flexible Structures
RENSSELAER POLYTECHNIC INST TROY NY DEPT OF ELECTRICAL COMPUTER AND SYSTEMS ENGINEERING
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When actuators and sensors on a controlled mechanical structure form naturally passive pairs, which usually requires physical collocation, very robust stabilizing controllers can be constructed. If the number of such naturally passive pairs is small, the closed loop performance may not be satisfactory. To address this problem, additional sensors, which are usually cheaper, lighter and easier to instrument than actuators, are frequently added to the control system. However, the passivity property no longer holds for these sensors with respect to the existing actuators. This paper presents some results on extending the passivity based design to incorporate these noncollocated sensors by using some nominal model information to synthesize a fictitious strictly passive output. The design approach was applied to a single rotating flexible beam with encouraging results.