113 2 リンクフレキシブルアームを対象とする構造と制御の同時最適設計  [in Japanese] Simultaneous Optimum Design of Structural and Control Systems in 2-link Flexible Arm  [in Japanese]

This paper proposes an optimum design problem of structural and control systems, taking a 2-link flexible arm modeled by finite element method as an example. An output feedback H_∞controller is designed using H_∞control theory with the use of frequency weighting functions. Structual weight and H_∞norm of transfer function from disturbance input to controlled output are adopted as objective functions of structural system and control one, respectively. Design variables are cross sectional heights of flexible arm with rectangular cross section. As this design problem is a multipurpose objective one, it is transformed into a single-purpose problem for obtaining Parato optima. Through the numerical examination we show the validity of the present optimum design and discuss the effect of frequency weighting functions.