AN INSIGHTFUL APPROACH TO H-INFINITY POSITION CONTROLLER-DESIGN FOR AN ELECTRIC MOTOR ATTACHED TO A FLEXIBLE STRUCTURE

This paper deals with the practical problem of controlling electric mo tors when they are attached to mechanical supports with structural res onances that interact with the controlled motor, This paper focuses on the use of classical Bode analysis techniques to gain insight into th e development of an H-infinity controller for an electric motor attach ed to a flexible structure. Bode plots are used to provide a meaningfu l guide to adjusting control weightings in the H-infinity problem form ulation such that performance objectives are achieved. This approach i s applied to the inertial position regulation of a gimballed pointing payload with significant structural resonances. Both simulation and ex perimental results are presented.