Modelling and robust control of a flexible beam Quanser experiment

Návrh robustného decentralizovaného riadenia pomocou LMI In this paper, the robust optimal model matching control design method is applied to a flexible beam Quanser experiment. The neglected nonlinearities of the real experiment in the controller design step lead to important differences between the simulation and experimental results, including vibrations of the real beam and/or stationary errors due to insensibility zone. In order to eliminate these tracking errors and reduce the vibrations of the beam we proposed an improved control law by using some blocks with variable structure. Because some of the model’s parameters are imprecisely known, an identification procedure is needed. The paper presents a subspace identification method, which is a relatively new approach used for the state space model identification. Finally, the performance of the proposed controller is illustrated by some experimental results.