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Aggressive Linear Setpoint Regulators for the Speed Control of Industrial DC Motors

The objectives of our research is twofold. First we present a generic LMI–based H∞ control design framework with various degrees of aggressiveness for robust setpoint regulation of linear systems with time varying disturbances. The proposed method incorporates ideas from the H∞ mixed–sensitivity design expressed solely in state–space. The design procedure is a multiobjective optimization problem which, if feasible, guarantees stability, robust setpoint regulation, disturbance attenuation, norm-2 gain minimization and performance with various degrees of aggressiveness. The proposed methodology is applied to an industrial 37kW DC Motor demonstrating the eﬃcacy of the proposed methodology.