| In this dissertation, robust servo controller designs for positioning systems are investigated. The objective of a robust servo controller is to meet performance criteria with closed-loop robustness with respect to disturbance and model uncertainties. The mechanism of H;In designing the feedback controller, the performance requirement and the uncertainty information are translated to the corresponding weighting functions in the H;These approaches are demonstrated on three mechanical systems. Numerical simulation results on the dual-actuator positioning system show excellent performance of disturbance rejection and track following. The structure of the feedforward controller is designed to utilize the characteristics of each of the coarse and fine actuators. Experimental studies on the NSK X-Y table and the hard disk drive were performed to validate the advantages of the robust servo control algorithms based on H... |
