Implementation Results of Mu-Synthesis Control for Energy Storage Flywheel Test Rig

In this paper m-synthesis is applied to a flexible and gyroscopic AMB system. A design methodology is presented which covers the practical issues of robust control like the selection of weighting functions, modelling of uncertainties and controller reduction. The modelling of the system is based on a analytical model adjusted to measured frequency responses. Special attention is paid to substructure modes. The focus of this paper is the experimental evaluation of the performance. Sine sweeps were performed at rotational speed and good agreement of the measured performance with the predicted robust performance is reached. The test rig finally was spun up past the first flexible critical speed.