Convex Separable Parametrization in Integrated Servo-Mechanical Design for High-Performance Mechatronics

Integrated servo-mechanical design for achieving positive realness constraints and control specifications of high-performance mechatronics is generally a nonlinear and nonconvex optimization problem. In this paper, a generalized Kalman-Yakubovic-Popov Lemma-based algorithm is proposed for simultaneous finite frequency redesign of the mechanical plant and controller using a convex separable parametrization. Our simulation results using the proposed algorithm achieve a high-bandwidth control system with disturbance attenuation capabilities at the phase-stabilized resonant modes. An identical closed-loop performance is achieved with a reduced-order controller from considering the mechanical realization of controller anti-resonant zeros.