NON-TUNING NONLINEAR CONTROL METHOD FOR SERVO CONTROLLER WITH CURRENT LIMITING DEVICE

摘要

A method for controlling a servo motor using a variable structure controller includes the steps of: setting a simplified model in the discrete time of a current limiting controller and the servo motor; defining a switching function for the model; producing an estimated value for disturbance by a relation with the switching function; and producing a control input which includes the estimated value for disturbance and makes the switching function 0.;COPYRIGHT KIPO 2015