Experimental approach to selecting H_∞ weighting functions for DC servos

This paper proposes an experimental solution for selecting H_∞ weighting functions by exploiting an experimental planning method which is widely used in quality control. Conducting matrix experiments via orthogonal array, free parameters in H_∞ weighting functions can be determined efficiently so that the resulting controller is able to satisfy all the design specifications. Velocity controller design of DC servomotors is demonstrated to show the superior servo performance provided by the experimental H_∞ design. All specifications of robust stability and robust performance are validated by hardware experiments. The resulting controller tends to uniform and lower μ curve, which is a reminiscence of μ controller.