A ROBUST CONTROLLER FOR 2ND-ORDER SYSTEMS USING ACCELERATION MEASUREMENTS

This paper presents a robust control design using strictly positive re alness for second-order dynamic systems. A robust strictly positive re al controller stabilizes second-order systems with only acceleration m easurements. An important property of this design is that the stabiliz ation is independent of the system plant parameters. The control desig n connects a virtual system to a given plant such that any strictly po sitive real controller can be used to achieve robust stability. A spri ng-mass system is used as an example to demonstrate the robust stabili ty and robust performance of this design.