Robust DC servosystem design based on the parameterization of twodegrees of freedom control systems

摘要

The authors propose a general robust servosystem design methodbased on the two-degrees-of-freedom (TDOF) controllers. With thisapproach, it is possible to specify the command input response to anarbitrary reference model while keeping a strong robustness to systemvariations and a high suppression performance with respect todisturbances. These can be designed independently of the command inputresponse. The TDOF method is generalized to unstable plants, and twotypes of practical parameterizations for the TDOF controller areproposed in order to design the speed and position servosystems,respectively. Their excellent control performances have been confirmedby experimental results. The application of one of the proposedservocontrollers to the motion control of robotic manipulators isdescribed