Starting from multiple frequency domain measurements, this paper presents a procedure to formulate a dynamic model of a servo actuator that consists of a nominal model and an allowable model perturbation in the form of a parametric and unstructured uncertainty. A separation between parametric and unstructured uncertainty is achieved by first estimating low order linear parameter models via frequency domain curve fitting followed by a linear Principle Component Analysis (PCA) to bound the parametric variations on the estimated parameters. Remaining differences between the low order parametric models and the measured frequency responses are captured by a bounded unstructured uncertainty on a frequency dependent dual-Youla parameter that uses prior information on a stabilizing feedback controller. The resulting perturbation model is written in a standard Linear Fractional Transformation (LFT) form and the procedure is applied to experimental data obtained from several mechanically equivalent servo actuators in a Linear Tape-Open (LTO) drive.
|Advisor:||Callafon, Raymond de|
|Commitee:||Bitmead, Robert, Martinez, Sonia|
|School:||University of California, San Diego|
|Department:||Engineering Sciences (Mechanical Engineering)|
|School Location:||United States -- California|
|Source:||MAI 50/05M, Masters Abstracts International|
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