Filter
Top Products
4.2. A SIMPLE FLEXIBLE STRUCTURE EXAMPLE 155
static gain. We will include some dynamic uncertainty in the actual design.
piezo = 1
4.2.2 Creating the Weighted Design Interconnection Structure
The weighted, open-loop design interconnection structure is illustrated in Figure 4.5.
For clarity, the two perturbations, ∆
1
and ∆
2
, have been shown inside the structure. We
have included perturbation models for both the actuators, involving the weights
Wavoice, Wmvoice and Wmpiezo.
In addition there is an error performance weight, Wperf, and two actuator penalties,
Wactv and Wactp. The relative sizes of the noise and disturbance inputs are specified by
the weights Wnoise and Wdist respectively.
Figure 4.5: Weighted open-loop interconnection structure for the JPL Phase B optical
design problem
The voice coil additive weight, Wavoice, is simply a constant. Because the nominal voice
coil model rolls off at 40db/decade this weight indicates significant gain and phase
uncertainty for the frequencies where |Wavoice| > |vcmodel|.
Wavoice = 1