Rest-to-Rest Motion of an Experimental Flexible Structure subject to Friction: Linear Programming Approach

Abstract — A linear programming approach designed to eliminate the residual vibration of the two-mass harmonic system subject to friction and undergoing a point-to-point maneuver is implemented. Techniques for non-robust and robust open loop controller design are explored. It is shown that consistent results can be obtained from experiments and the robustness against frequency uncertainty results in reduction in residual vibration as well as steady-state error. I