Synthesis Method of Mixed Sensitivity for H-infinity Robust Control Optimization on DC Motor of Mechatronics Model

Abstract

Direct current (DC) motor is extensively used in industry, education, and household appliances. The speed quality of the DC motor needs to be guaranteed from interference and uncertainty. Although the components of DC motor such as electronics and mechanics can develop plant model, its degradation and sensor noise may provide uncertainty. In addition, disturbance from the environment and overload can interfere with the performance of a DC motor. This research aims to apply the mixed sensitivity synthesis method of H-infinity robust control for optimization on speed control of DC motor model to deal with uncertainty. The mechatronics component principle model is calculated by mixed-sensitivity synthesis procedure for constructing the H-infinity controller K. The simulation and analysis of the proposed method showed that the circumstances on robust criteria and H-infinity norm are successfully satisfied singular values. The optimization controller design is robustly stable due to limited perturbations assessment, particularly as noise sensor simulation. The proposed design also provided better overshoot and smother signals.