Multiple simultaneous specifications control problem and its application

Abstract

A practical control system design problem may require that several different performance specifications be considered at the same time. Therefore, there exists a need for a control design methodology to meet the multiple performance specifications simultaneously. This paper develops a new control design method with a two-stage procedure to solve such a multiple simultaneous specification problem. The proposed convex combination method is further applied to a commercial robot. The experimental results verify the effectiveness of this method.