ROBUST SWITCHING CONTROLLER OF ROTATIONAL MECHANICAL SYSTEM WITH BACKLASH

Abstract

This dissertation presents robust switching controller of rotational mechanical system with backlash. H-Infinity controller design methodology implemented to model and control system with backlash nonlinearity. This thesis mainly recommends robust solution for backlash by means of H-infinity control methods in the existence of uncertainties that arises from avoiding certain of system dynamics for example motor and load). Rotational mechanical system characterized by switching between different vector fields in differential and/or difference equations, with one field active during a period. Nonlinearity Backlash in systems is because of gap in transmission link, and it results a problem when there is a reverse. To reward for the uncertainties in the system dynamic model, this thesis illustrates how the system kinematics model used for designing robust controller and comparing it with PID controller new necessary and sufficient conditions for robust control using the H-Infinity approach. H-Infinity methodology has been developed and assessed for speed and position control of the output shaft, considering backlash nonlinearity.