Optimal performance of a controlled system withstructural parameter variation

Traditionally, sequential approaches to structural and control optimization are used to improve the performance of mechatronic systems. However, the chances of finding a truly optimal system can be increased if structure and controller are optimized in a simultaneous, integral optimization procedure. Our research is focussing on combining topology optimization and controller optimization. The first step towards an integral system optimization approach is to study the mutual dependence between structural and control parameters, and their combined effect on a chosen performance measure. Furthermore, sensor and actuator placement are important factors in achieving optimal system behaviour, and should be considered in combination with the specific dynamic behaviour. In this paper, we study the optimal design of a simplified motion control system. In particular, we focus on a fundamental understanding of the interdependence between sensor position, structural eigenmodes and controlled system performance.