Parameter Variation for Dynamic System Performance

Authors

Laura Lund, Carnegie Mellon University
Mark L. Nagurka, Marquette UniversityFollow
Thomas R. Kurfess, Carnegie Mellon UniversityFollow

Document Type

Article

Language

eng

Publication Date

6-1992

Publisher

Elsevier

Source Publication

IFAC Proceedings Volumes

Source ISSN

1474-6670

Abstract

The paper promotes the use of special eigenvalue plots for providing a geometric perspective in control analysis and design. It is shown that the proposed eigenvalue plots are related to the classic root sensitivity function, a normalized measure of parameter variation effects on the closed-loop eigenvalues. Following the analytical development, an example demonstrating a position-actuated gantry robot with link compliance is analyzed. The effects of system parameters on the closed-loop performance are investigated using the proposed eigenvalue plots and resulting sensitivity plots.

Comments

IFAC Proceedings Volumes, Vol. 25, No. 8 (June 1992): 400-407. DOI.

Mark L. Nagurka was affiliated with Carnegie Mellon University at the time of publication.

Recommended Citation

Lund, Laura; Nagurka, Mark L.; and Kurfess, Thomas R., "Parameter Variation for Dynamic System Performance" (1992). Mechanical Engineering Faculty Research and Publications. 182.
https://epublications.marquette.edu/mechengin_fac/182