H - OPTIMAL POSITION CONTROL OF A HYDRAULIC DRIVE

Vieroslava Kneppová - Štefan Kozák

   In this paper an application of the H-optimal position control of a hydraulic drive is presented. The treatment of model uncertainties in the field of robust control is demonstrated and an analysis for the two most important kinds of un certainties is presented. Main goal is to portray the relation between the weighting functions and the performance and robustness of the controlled system. On the basis of this detailed analysis, a set of simple tuning rules for the appropriate selection of the weighting functions is derived. A software package for the analysis of the plant and the selection of the weighting functions have been developed and successfully applied to a hydraulic drive.

Keywords: H-optimal control, single-input/single-output systems, robust control, hydraulic drive

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