LAUSR

In this article, a plant/controller integrated design strategy based on the nested optimization strategy and guaranteed cost control for a motor driving system is developed. Because of the coupling between the plant design and the controller design, the conventional sequential design methods cannot guarantee an overall optimality for the controlled motor driving system. The integrated design strategy proposed in this article aims to tackle this problem by simultaneously optimizing the controller design and plant design. The integrated design objective is to drive the largest load and guarantee the satisfactory robust control performance for reference tracking subject to parametric uncertainties. This is enabled by integrating a guaranteed cost controller into the integrated design strategy and improves the reliability of the control scheme. A novel combined performance index including the plant design objective and the control performance is developed as the integrated design cost function for the motor driving system. A nested optimization strategy is employed so that the optimality of the system can be calculated in an efficient and reliable way. Experimental results demonstrate the effectiveness of the proposed integrated design method.