Ali Chaibakhsh - Department of Mechanical Engineering K.N. Toosi University of Technology, Tehran, Iran
Khalil Alipour - Department of Mechanical Engineering K.N. Toosi University of Technology, Tehran, Iran

In this paper a robust control approach is developed to control the so-called rotational translational proof mass actuator RTAC) system. This system is a nonlinear fourth-order dynamical system considered as a benchmark problem for nonlinear control. RTAC contains a rotational proof mass employed to stabilize the transitional cart. In order to realize a suitable controller, a linear perturbed model is conducted based on frequency response using an effective identification scheme. The nonlinearity of the desired system is reduced by constraining the oscillation of the rational mass. The obtained perturbed linear model is utilized to devise an H¥ controller based on mixed-sensitivity as well as an H2 /H¥ . The obtained results demonstrate the merits of designed controller which satisfies all considered performance requirements including robust stability, disturbance attenuation and robustness against modeling inaccuracies.

Robust Control- RTAC - H¥ Controller-, Identification