Robust controller design for feedback architectures with signal shapers

Abstract

Available feedback architectures with time delay based signal shapers are outlined and studied with the objective to determine the channels in which the flexible mode compensation (by the shaper) takes place. As the main result, a systematic methodology for the robust controller design is proposed and tested for three most common feedback architectures with signal shapers. The validation is performed on a Gantry crane anti-sway problem, considering four types of distributed delay shapers. It is demonstrated that for the selected robustness H∞ measure, the applicable parameter range is considerably reduced by placing the signal shaper to the loop. Still, the obtained characteristics and responses of shaper feedback architectures show that viable controller setting can well be found by the considered control design method.