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TECHNICAL BRIEFS

Analysis and Design of Robust Motion Controllers in the Unified Framework

[+] Author and Article Information
Bong Keun Kim

Department of Mechanical Engineering, Pohang University of Science and Technology, San 31, Hyoja-Dong, Nam-Gu, Pohang, 790-784, Korea e-mail: kbk@postech.ac.kr

Hyun-Taek Choi

School of Electrical Engineering and Computer Science, Hanyang University, 1271, Sa 1-Dong, Ansan, 425-791, Korea e-mail: finding@hanmir.com

Wan Kyun Chung

Department of Mechanical Engineering, Pohang University of Science and Technology, San 31, Hyoja-Dong, Nam-Gu, Pohang, 790-784, Korea e-mail: wkchung@postech.ac.kr

Il Hong Suh

School of Electrical Engineering and Computer Science, Hanyang University, 1271, Sa 1-Dong, Ansan, 425-791, Korea e-mail: ihsuh@email.hanyang.ac.kr

J. Dyn. Sys., Meas., Control 124(2), 313-321 (May 10, 2002) (9 pages) doi:10.1115/1.1468995 History: Received June 15, 2000; Online May 10, 2002
Copyright © 2002 by ASME
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References

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Figures

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Robust control system with two-loop structure
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Compensated unity feedback system with prefilter
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Reconstruction of plant
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Reference closed-loop system
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Robust internal-loop compensator structure
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Equivalent structure of RIC using Pn(s) and Q(s)
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Robust control with adaptive algorithm
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Equivalent representations of RCA structure
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Enhanced IMC and its equivalent structure in the RIC framework
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Overall control system and internal-loop compensators
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Simulation results of RIC, DOB, RCA, and enhanced IMC
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Bode magnitude plots of designed Q(s),Q31(s) and tracking error

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