A Robust Controller for Second-Order Systems Using Acceleration Measurements

Abstract

This paper presents a robust control design using strictly positive realness for second-order dynamic systems. A robust strictly positive real controller stabilizes second-order systems with only acceleration measurements. An important property of this design is that the stabilization is independent of the system plant parameters. The control design connects a virtual system to a given plant such that any strictly positive real controller can be used to achieve robust stability. A spring-mass system is used as an example to demonstrate the robust stability and robust performance of this design.