Integrated Servo-Mechanical Design of Robust Mechatronics Based on Low-Order Moments and Support

Integrated servo-mechanical design for achieving control specifications and robust stabilization of high-performance mechatronics is generally a nonlinear and non-convex optimization problem. In this paper, a convex separable parametrization is proposed for simultaneous finite frequency redesign of the mechanical plant and controller considering performance specifications and plant parameter distributions of known mean, variance, and support. The robust stability criterion is satisfied using several convex constraints under the conditional-value-at-risk measure. Our simulation results using the proposed algorithm achieve a high-bandwidth control system with guaranteed disturbance attenuation capabilities at the phase-stabilized resonant modes, and is robustly stable under distributional changes in plant parameters.