An /spl infin/-LQ regulator and sliding mode controller for a flexible structure with synchronous motor

Abstract

In this paper the steady-state linear-quadratic regulator (LQR) is considered as the nominal or desired control for a simplified model of a flexible structure with torque actuation at its hub. Next, a synchronous motor is used as the source of the torque input with dynamics given by a set of nonlinear differential equations. Finally, a sliding-mode controller is designed for the synchronous motor using a sliding manifold that effectively ensures that the optimal regulator control law is generated. Preliminary simulations in SIMULINK are included to illustrate the results on a one-mode model of a flexible link.