Optimal motion control of elastic plants

Abstract

Using modal analysis the dynamic behaviour of elastic plants is reduced to a 4/sup th/ order system. Applying the maximum principle of Pontrjagin time and energy optimal control laws are calculated for a 4/sup th/ order modal model. The influence of parameter variations, model approximation and other disturbances is compensated by an additional closed-loop control algorithm based on a special coordinate transformation to a cascade model.