Modified LTR robust control for flexible structures

Abstract

A procedure is developed for dealing with performance and robustness issues in the design of multi-input multi-output compensators for lightly damped flexible structures. The procedure is based upon representing errors in the plant design model as structured uncertainties, and applying a modified version of the Loop Transfer Recovery (LTR) design method. Real parameter errors, such as frequency errors, damping errors or modal displacement errors can be treated. The approach involves adjusting the cost function in the regulator problem and the process noise model in the estimator problem in a particular manner which reflects the assumed structure of the modeling errors. Numerical examples dealing with the control of a large flexible space antenna with uncertain frequencies demonstrate a considerable improvement over standard LTR methods. Convenient design parameters can be varied until a satisfactory compromise is achieved between performance and robustness.