Robust H/sub /spl infin// control of a traction drive system for precision motion

The control system for a traction drive must produce robust response with respect to a change in the mass of the workpiece on the slide. It has been found that a conventional controller cannot tolerate a large range of mass change. In this paper, a discrete-time H/sub /spl infin// controller is described that has achieved robustness with respect to a change in mass. Comparison between the robustness of two controllers, PID and H/sub /spl infin//, is given by the experimental results and shows the improvement using the H/sub /spl infin// controller.