OPTIMAL DESIGN OF ROBUST CONTROL SYSTEMS WITH LARGE BAND REFERENCE SIGNALS

In this paper, a new technique in controller design is presented. Its aim is to force a linear plant to track, with a prefixed error, a class of reference trajectories characterized by an assigned band. Furthermore, the designed control is robust with respect to parametric uncertainties, disturbances and it guarantees limitations of some internal signals. The design methodology is based on the introduction of an important project parameter, the time delay within which the command can be considered to have been carried out, by a controller structure with sufficient degrees of freedom and by a constrained optimization technique where the initial values of controller parameters are determined by means of the most appropriate techniques of modern control theory. The efficiency of the proposed procedure is illustrated through the design of a realistic control system for the planar laser scanner. In result consistent improvement in performance can be measured