This paper describes the design of H-infinity controller for robust control of a DC motor system. The suggested controller can ensure robustness against disturbance and model uncertainty by minimizing H-infinity norm of the transfer function from exogenous input to performance output and applying the small gain theorem. In particular, the controller was designed to reduce the effects of disturbance and model uncertainty simultaneously by formalizing these problems as a mixed sensitivity problem. The validity of the proposed controller was demonstrated by computer simulations and real experiments. Moreover, the effectiveness of the proposed controller was confirmed by comparing its performance with PI controller, which was tested under the same experimental condition as the H-infinity controller.

서 론
재료 및 방법
    DC모터의 상태 공간 모델링
    DC모터 속도 제어를 위한 ∞ 제어기 설계
결과 및 고찰
결 론
사 사
References

• 정태영(부경대학교 실습선 교수) | Tae-Young JEONG (Professor, Training Ship, Pukyong National University, Busan 48513, Korea) Corresponding author
• 김동근(부경대학교 대학원 냉동공조공학과 대학원생) | Dong-Geun KIM (Student, Graduate School of Refrigeration and Air-conditioning Engineering, Pukyong National University, Busan 48513, Korea)