LMI approach to robust H_∞/H₂ controller design with regional poles constraint of a pump-motor system

The time domain guideposts requirements of a pump-motor system is transferred into a series of constraints which express the robust performance upper bound and regional poles limits of the closed loop system. Then the servo system control problem is transferred into the problem of robust performance optimizing under regional poles constrains described by linear matrix inequality (LMI). These LMIs are easy to solve through the Matlab LMI-toolbox. Simulations indicate that the controller has excellent dynamic, static and disturbance rejection performance, and the control system is robust and has perfect H₂ performance to the bounded external torque disturbance.