Convergent Iterative Feedback Tuning of State Feedback-Controlled Servo Systems

摘要

This paper presents a new Iterative Feedback Tuning (IFT)-based optimal state feedback control solution dedicated to a class of second-order servo systems with integral component. The state feedback controllers for these controlled plants are extended with an integrator to ensure the rejection of constant load type disturbances. Original IFT algorithms are suggested for the accepted state feedback controllers such that to set the step size in order to guarantee the convergence. An attractive convergence theorem based on the application of Popov's hypertability theory to the parameter update law in the IFT algorithms is offered. The theoretical results are validated by a case study concerning the position control of a DC servo system with backlash. Implementation issues are discussed and exemplified by real-time experimental results.