Two-Degree-of-Freedom Optimal Preview Tracking Control: A Mechatronic Design Example

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  • Jin-Hua She
    Department of Mechatronics, School of Engineering, Tokyo University of Technology, 1404-1 Katakura, Hachioji, Tokyo, 192-0982, Japan
  • Xin Xin
    Department of Communication Engineering, Faculty of Computer Science and System Engineering, Okayama Prefectural University, 111 Kuboki, Soja, Okayama, 719-1197, Japan
  • Yasuhiro Ohyama
    Department of Mechatronics, School of Engineering, Tokyo University of Technology, 1404-1 Katakura, Hachioji, Tokyo, 192-0982, Japan

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<jats:p>A design method for digital tracking control is described and applied to control an arm robot with structured uncertainties. A two-degree-of-freedom control system configuration provides the desired feedback and input-output performances independently. Regarding controller design, first, sampled-data H∞ control and linear matrix inequality approaches are used to design a reduced-order output feedback controller. Then, the feedforward controller is parameterized based on the feedback controller, with the free parameter being chosen based on a preview strategy.</jats:p>

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