Digital robust-model-matching for vibration suppressing control of servomechanism with flexible arms

摘要

This paper addresses the issue of vibration suppressing control of servomechanisms with flexible structures in the discrete time domain. The natural extention of the conventional method, which utilize the DVFB control and the Robust-Model-Matching, causes the problem such that the obtained control system is not internal stable, when the discrete plant is non-minimal phase. We propose the method which overcome the problem and show an example.