Trade Offs in LQ/LTR Control Designs for MIMO AMB Systems

This study evaluates the design tradeoffs of linear-quadratic (LQ) and LQ / loop transfer recovery (LTR) controllers for MIMO AMB system. The comparison of the LQ regulator with the Kalman filter, LQ/LTR design, and classical PID and PI/PD cascaded controllers is presented. The properties of the tested control configurations are examined using maximum singular values of the output sensitivity function of the close-loop system and the tolerated disturbance force at the input of the plant. Furthermore, the indexes such as measured peak output sensitivity, responses to the step reference position and step disturbance are examined. The simulation and experimental results from the test-rig are compared.