Title: Discrete-time H₂-optimal output tracking control for an experimental hydraulic positioning control system

Authors: Yang Lin, Yang Shi, Richard Burton

Addresses: Department of Mechanical Engineering, University of Saskatchewan, Saskatoon S7N 5A9, Canada. ' Department of Mechanical Engineering, University of Saskatchewan, Saskatoon S7N 5A9, Canada. ' Department of Mechanical Engineering, University of Saskatchewan, Saskatoon S7N 5A9, Canada

Abstract: This paper explores the application of discrete-time H₂-optimal output tracking control for a hydraulic positioning control system (HPCS). By minimising the H₂-norm of the system, the discrete-time H₂-optimal control both stabilises the plant and minimises the root-mean-square of the servo position error simultaneously. To facilitate computation of the H₂-optimal controller, linear matrix inequalities (LMIs) technique is applied. Computer simulations illustrate the design procedure and the effectiveness of the proposed method. Experimental tests on a real hydraulic positioning system for a tracking application are also conducted and the results show that the method is suitable for practical applications.

Keywords: hydraulic positioning; positioning control; HPCS; output tracking control; discrete time control; H₂ optimal control.

DOI: 10.1504/IJAMECHS.2009.023199

International Journal of Advanced Mechatronic Systems, 2009 Vol.1 No.3, pp.168 - 174

Published online: 13 Feb 2009 *

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