Robust controller designs for second-order dynamic systems - A virtual passive approach

Abstract

This paper presents a robust controller design for second-order dynamic systems. The controller is model independent and is a virtual second-order dynamic system. The conditions for actuator and sensor placements are identified for controller designs that guarantee overall closed-loop stability. The dynamic controller can be viewed as a virtual passive damping system that serves to stabilize the actual dynamic system. The control gains are interpreted as virtual mass, spring, and dashpot elements that play the same roles as actual physical elements in stability analysis. Position, velocity, and acceleration feedback are considered. Simple examples are provided to illustrate the controller design. From this illustration the physical meaning of the controller design is apparent.