Abstract

This paper validates a robust H controller design method, experimentally, on miniaturized prototypes of the magnetically actuated lens-tilting optical image stabilizers (OISs) with product variabilities. Five small-scale OIS prototypes with product variations are constructed by three-dimensional (3D) printing. For the prototypes, the model parameters are identified based on experimental frequency response data of the prototypes. Using the identified model, a robust H controller is designed to guarantee the robust stability of the closed-loop system and to optimize the closed-loop performance. The experimental results reveal larger and more complex uncertainties in miniaturized OISs with mass-produced parts compared to large-scale prototypes. Despite the increased amount of uncertainties, it is demonstrated that the robust H controller still outperforms the conventional controllers in terms of robust closed-loop stability, performance, and controller order for practical implementation on a mobile phone device.

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