Using µ-synthesis to investigate the robustness of a rotary debarking machine

The article discusses the stages of designing a reliable controller for a rotary deboning machine. A linear model with parametric uncertainties describing the dynamics of the object is derived based on practical knowledge of the deboning machine's design. During the controller design phase, appropriate frequency weighting functions are selected to ensure the desired characteristics. The resulting model and weighting functions are used to develop a reliable controller. When modeling and designing the controller, the problem of filtering in the low-frequency range is also taken into account. The key contribution of this article for system developers is the proposed methodology for determining uncertain linearized models of de-skimming machines. The proposed methodology describes the steps of the controller design process using μ-synthesis, which allows this methodology to be applied to structured controllers.