Output response tuning of one- and two-degree-of-freedom controllers using an Hx approach

Abstract

Most H _∞ designs have concentrated on loss functions defining sensitivity and robustness. In this paper it is shown how the desired input-output response can be added to the loss function. This is first done with a one-degree-of-freedom controller and then extended to a two-degree-of-freedom controller. Suggestions are made for the choice of weighting functions for these new components of the loss function, by directly relating the weighting functions to the expected influences on the system.