Robust and optimal design of fixed structure controllers in collocated motion systems

The paper deals with a methodology for the derivation of PI(D) type fixed structure controllers commonly embedded in motion control loops. A collocated control design problem is formulated, considering two different plant outputs. The goal is to tune the controller parameters to achieve both robustness in stability with respect to a feedback variable and optimal performance with respect to a second penalised output. The proposed method is validated by means of a lift control benchmark problem.