**Currrent Issue: Volume 2, Number 3, 2014**

### Article

**Robust Lead Compensator Design for an Electromechanical Actuator Based on H∞ Theory**

^{1}Faculty of Electrical Engineering, Malek-Ashtar University of Technology (MUT), 15875-1774, Tehran, Iran

^{2}School of Railway Engineering, Iran University of Science and Technology (IUST), 16846-13114, Tehran, Iran

*Automatic Control and Information Sciences*. 2014, 2(3), 53-58

doi: 10.12691/acis-2-3-2

**Copyright © 2014 Science and Education Publishing**

**Cite this paper:**

Rafik Salloum, Mohammad Reza Arvan, Bijan Moaveni. Robust Lead Compensator Design for an Electromechanical Actuator Based on H∞ Theory.

*Automatic Control and Information Sciences*. 2014; 2(3):53-58. doi: 10.12691/acis-2-3-2.

Correspondence to: Rafik Salloum, Faculty of Electrical Engineering, Malek-Ashtar University of Technology (MUT), 15875-1774, Tehran, Iran. Email: rafsal@mail.iust.ac.ir

### Abstract

In this paper, we design a robust lead compensator for a real Electromechanical Actuator (EMA) harmonic drive by introducing an approach based on H∞ control theory. Here, we address three main topics; experimental identification, uncertainty modelling, and robust control design for a real EMA harmonic drive system. This method verifies good tradeoff between the powerful H∞ controller and the unique features of compensators, such as: simplicity, low cost and easy implementation. The H∞ controller and the extracted compensator are almost identical within the EMA bandwidth range. Simulation and test results prove the effectiveness of the proposed approach and the superiority of the performance of the designed robust EMA with lead compensator based on H∞ controller over the original EMA; this preference is pertaining to its robustness to parametric uncertainties and high performance.

### Keywords

Electromechanical actuator (EMA), identification, uncertainty modelling, robust control, lead compensator, H∞ control theory

### References

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### Article

**Closed Forms of Some Definite Integrals**

^{1}Department of Management and Information, Nan Jeon University of Science and Technology, Tainan City, Taiwan

*Automatic Control and Information Sciences*. 2014, 2(3), 49-52

doi: 10.12691/acis-2-3-1

**Copyright © 2014 Science and Education Publishing**

**Cite this paper:**

Chii-Huei Yu. Closed Forms of Some Definite Integrals.

*Automatic Control and Information Sciences*. 2014; 2(3):49-52. doi: 10.12691/acis-2-3-1.

Correspondence to: Chii-Huei Yu, Department of Management and Information, Nan Jeon University of Science and Technology, Tainan City, Taiwan. Email: chiihuei@nju.edu.tw

### Abstract

This paper studies two types of definite integrals and uses Maple for verification. The closed forms of these definite integrals can be obtained using Poisson integral formula. On the other hand, some examples are used to demonstrate the calculations.

### Keywords

### References

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