Robust Stabilizing Compensators for Flexible Structures with Collocated Controls
For flexible structures with collocated rate and attitude sensors/actuators, we characterize compensator transfer functions which guarantee modal stability even when stiffness/inertia parameters are uncertain. While the compensators are finite-dimensional, the structure models are allowed to be infinite-dimensional (continuum models), with attendant complexity of the notion of stability; thus exponential stability is not possible and the best we can obtain is strong stability. Robustness is interpreted essentially as maintaining stability in the worst case. The conditions require that the compensator transfer functions be positive real and use is made of the Kalman-Yakubovic lemma to characterize them further. The concept of positive realness is shown to be equivalent to dissipativity in infinite dimensions. In particular we show that for a subclass of compensators it is possible to make the system strongly stable as well as dissipative in an appropriate energy norm.