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Magnitude

Magnitude

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10

MIXED MU

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CLOSEDLOOP MU: CONTROLLER 3

MIXED MU

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mu

10

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Frequency (rad/s)

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ROBUST STABILITY

10

10

mu

10

10

10

Total uncertainty
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Inertial moments uncertainty
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10

10

10

10
Frequency (rad/s)

10

10

1
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NOMINAL PERFORMANCE

10

10

10

10

10

10
Frequency (rad/s)

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10

10

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10
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1
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10

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MAXIMUM SINGULAR VALUES OF THE CONTROLLER TANSFER MATRICES

10

10

10

10

10

10

10

10

Fullorder (n = 71) controller


Reducedorder (n = 15) controller

10

10

10

10
10
Frequency (rad/sec)

10

10

1
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10

mu

Full order controller


Reduced order controller

10

10

10

10

10
Frequency (rad/s)

10

10

1
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Full order controller


Reduced order controller

10

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10

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CLOSEDLOOP INITIAL CONDITIONS RESPONSE


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y1, y2, y3 (rad)

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5
Time (secs)

10

1
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CLOSEDLOOP TRANSIENT RESPONSE


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y3
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y1, y2, y3 (rad)

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10
Time (secs)

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5
Time (secs)

10

1
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PERTURBED CLOSEDLOOP REFERENCE TRANSIENT RESPONSE


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10
Time (secs)

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14

16

18

20

1
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