Integrated Servo-Mechanical Design of Robust Mechatronics Based on Ambiguous Chance Constraints


During this brief, we have a tendency to propose a convex separable parametrization technique for finite frequency reshaping of the mechanical plant and low-order controller in high-performance mechatronic systems simultaneously. Using the generalized Kalman-Yakubovich-Popov lemma with low-order moments and support for parametric uncertainties, the individual probability-constrained sturdy stability criterion is formulated and solved via several convex linear matrix inequalities while making certain stable zeros with a positive realness condition. Our simulation results on the Pb-Zr-Ti active suspension in an exceedingly industrial 3.five'' dual-stage laborious disk drive achieve a high-bandwidth control system and desired disturbance attenuation capabilities, with a stability of 98.2% in proportion of perturbed systems as compared with commonplace methods in the current literature.

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