Mixed Sensitivity H-∞ Control for Helicopter Model

Educational Case Study on H-Infinity Robust Performance Design

“…The design of a robust controller is aimed at finding a controller that would meet the requirement of robust control quality (robust performance) for the entire class of the systems where a nominal plant is just a special sample that belongs to the group. Here is a list of common methods that are used to design a robust controller (see [2,3,6]):…”

“…Robustness can be achieved with single-input/singleoutput (SISO) systems by fulfilling a sufficient phase and gain margin, resulting in a good quality of control. In case of multidimensional systems, a linear quadratic Gaussian method (LQG) was used to design a robust control circuit, see [1,2].…”

Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller

“…To achieve good closed loop performances, such as disturbance rejection, noise attenuation, and control input bandwidth, the mixed sensitivity approach relies on optimization that involves two or more sensitivity functions, the sensitivity function (S), the input sensitivity function (KS), and the complementary sensitivity function (T) as reviewed by Kwakernaak. 18 Thus mixed sensitivity approach can be differed mixed sensitivities, such as S/T in Peng et al 19 and M. Rachedi et al, 20 S/KS in Wei-qian et al, 21 Ozana et al, 22 and Xinping Bao, 23 or S/KS/T in Alfaya et al, 24 Bejarano et al, 25 Delettre et al, 26 Iannino et al, 27 and Fragoso et al 28 Peng et al 19 proposed H∞ controller to solve the S/T problem for the pneumatic manipulator with parameter variation, and low or high frequency disturbances acting on the pneumatic manipulator as uncertainties. Rachedi et al 20 used mixed sensitivity controller for position control of a “Delta” parallel robot.…”

“…S/KS mixed sensitivity approach was applied for vibration control of high-order flexible structures by Wei-qian et al 21 The controller could satisfy tracking performance specification and internal stability. The same controller was also applied for elevation control of a helicopter by Ozana et al 22 Xinping Bao 23 developed a rudder-based roll control system for the robotic boat. They designed a mixed sensitivity H∞ controller to control yaw and roll attitude.…”