Robust H infinity control considering actuator saturation .2. Applications

This research applies the robust H-infinity state feedback control theory developed in Part 1 to the 33-story Riverside Sumida Central Tower; designed and constructed by Obayashi Corporation and located in Tokyo, Japan. Two active mass dampers (AMDs), located on the roof of this structure, are capable of controlling the vibrations due to mild disturbances. This investigation develops robust H-infinity controllers for these AMDs that account for structural uncertainty and actuator saturation. Several H-infinity controllers are created and the tradeoffs between robust, worst-cast closed-loop system performance and predicted peak actuator effort are illustrated. For the structure/control model used in this investigation, the robust H-infinity controllers are more effective than traditionally designed LQR controllers at attenuating transient vibrations of the structure when subjected to small magnitude loadings. However, this effectiveness comes at the expense of larger required control efforts. For large magnitude inputs, and nonlinear time-varying systems the H-infinity controllers outperform the LQR design, and are limited only by the actuator capacity in their effectiveness.