An Autonomous Design Method of a Cascade Structure Feedback Controller

摘要

This paper proposes a method to design a wide-bandwidth cascade structure feedback (FB) controller for a mechatronic system with resonant modes. The notable feature of the proposed method is to optimally design both the structure and parameters of a FB controller that performs wide-bandwidth FB control while meeting the specified control stability requirements. The proposed method searches for an optimum controller structure, in terms of the sequence of element compensators, as well as including a hybrid optimization-based controller parameter design method. The effectiveness of the proposed method was verified through numerical simulations using a laboratory galvano scanner.