Design of H controller for precise positioning system

A. Yamauchi, T. Murakami, A. Moran, M. Hayase

Research output: Contribution to conferencePaperpeer-review


The control system of a positioning mechanism with resonance and Coulomb friction has been designed using H control theory, and the control performance has been verified by computer simulation and experimental analysis. DGKF type H control with scalar weighting factors and GD type H control with frequency-dependent weighting function based on integral action were utilized for designing the control system. The followings have been confirmed from this study: (1) H control has good robustness properties for a wide range of operating conditions in the presence of external disturbances such as Coulomb friction. (2) DGKF type H controller presents better convergence and robustness properties than GD type H controller.

Original languageEnglish
Number of pages6
StatePublished - 1995
Externally publishedYes
EventProceedings of the 34th SICE Annual Conference - Hokkaido, Jpn
Duration: 26 Jul 199528 Jul 1995


ConferenceProceedings of the 34th SICE Annual Conference
CityHokkaido, Jpn


Dive into the research topics of 'Design of H controller for precise positioning system'. Together they form a unique fingerprint.

Cite this