Integrated topology and controller optimization using the Nyquist curve

Abstract The design of high-performance mechatronic systems is very challenging, as it requires delicate balancing system dynamics, the controller, and their closed-loop interaction. Topology optimization provides an automated way to obtain with superior performance, although extension simultaneous both topology controller has been limited. To allow for stability, disturbance rejection ( i.e. modulus margin), we introduce local approximations Nyquist curve using circles. These circular enable simple geometrical constraints on shape curve, which used characterize performance. Additionally, a computationally efficient robust formulation proposed dynamic systems. Based approximation eigenmodes perturbed designs, dynamics can be described sufficient accuracy optimization, while preventing usual threefold increase additional computational effort. designs optimized integrated approach have significantly better performance (up 350% in terms bandwidth) than sequentially systems, where eigenfrequencies are first maximized then tuned. enables new directions (topology) effective control over implementation formulation.