Minimum time pole assignment control of a position system servo-drive

摘要

This paper demonstrates by experimental results properties of the minimum time pole assignment control algorithms applied to positioning the cart of a gantry crane laboratory model driven by a DC motor. This new type of controllers for constrained systems is tuned by a simple procedure based on generalisation of the method by Ziegler and Nichols. It shows that the control design problem may be treated in simple and direct way - much more efficiently as it is usual by means of two step procedure based on standard linear techniques extended by some anti-windup measures.