Cross-synthesis of observer and controller for a two-mass uncertain system

Abstract

The industrialists want a minimum of sensors to improve reliability and cost. Performances are then decreasing for systems with variable parameters or direct-drive. Moreover, flexibility in a such system has not to be neglected for an accurate control. This paper proposes solutions to quickly and accurately tune a control loop including LQ state feedback and Kalman observer. Both items are with special tuning matrices to increase insensivity to parameter variation. An evolutionary algorithm optimizes the command all over the variations underlining the benefits of a crossed synthesis. Experiments show that the stability and the performance are effectively maintained.