Collocated Versus Non-collocated Control
The chapter begins with a discussion of the impact of a pole-zero flipping on the stability of a lightly damped system; then, using the simple example of the two-mass problem, the collocated and non-collocated control are compared. The robust stability (infinite gain margin) of the collocated case is pointed out. The use of a notch filter is briefly discussed, and its sensitivity to parameter uncertainty is highlighted. Next the case of a nearly collocated structure is discussed and the migration of the transmission zeros as the distance between the actuator and sensor increases is analyzed. The chapter concludes with a short list of references and a set of problems.
KeywordsCollocated control Pole-zero flipping Notch filter Non-collocated control Nearly collocated control Stability margins Robustness Notch filter
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