Abstract
In this paper we consider the controller design problem when the input signal is known in advance and the performance is measured as maximum absolute tracking error. We design a two-parameter controller that allows to achieve very precise nominal tracking while keeping the control input rate within desired limits. We apply the method to a first example and uncover the structure of the controller parameters. Finally, we apply the method to a realistic model of actuator for micro-surgery. The simulation results show that the design method can be used successfully to impose stringent time-domain specifications on the resulting closed loop system.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 4720-4725 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 4 |
| State | Published - Dec 1 1998 |
| Externally published | Yes |
| Event | Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA Duration: Dec 16 1998 → Dec 18 1998 |