Precise Speed Tracking Control of Ultrasonic Motors via Sampled-Data H∞ Control
Abstract
In this paper, we consider a synthesis problem of digital controllers for speed tracking control systems of ultrasonic motors. In previous works, a continuous-time H∞ control based synthesis involving the Tustin transformation has been utilized to solve the problem, where it has been empirically known that an over-estimation of a modeling error is needed to avoid speed fluctuations in a high frequency range. In this paper, it is shown that a desirable performance can be obtained by the sampled-data H∞ control synthesis without such conservativeness in the modeling.
- Publication:
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SICE Journal of Control, Measurement, and System Integration
- Pub Date:
- 2011
- Bibcode:
- 2011JCMSI...2...27V
- Keywords:
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- sampled-data H<SUB>∞</SUB> control synthesis;
- continuous-time H<SUB>∞</SUB> control based synthesis;
- speed tracking control;
- ultrasonic motor