Design of a robust electrical position servo based on dual model matching

Abstract

This paper deals with the robust control of electrical servomotors with parametric uncertainties and some non-linear factors. A powerful two-degrees-of-freedom (TDOF) approach via sensitivity and complimentary sensitivity functions has been used previously to obtain results, subject to unstructured uncertainties. This approach has the advantages that any stable linear control systems can be realized and also that the reference input response and disturbance supression can be specified independently. In this paper a procedure is proposed for the design of robust electrical position servos based on a novel control system design method called dual model matching (DMM). The DMM approach also possesses the above properties but with additional advantages subject to parametric uncertainties. A comparison of the usual TDOF approach with the DMM approach is discussed. The efficacy of the proposed servos is confirmed with computer simulations and laboratory experiments.