Adaptive DC servo drive control taking force disturbance suppression into account

A linear adaptive DC servo drive control system to improve the drive performance of a DC servo motor is proposed. A force disturbance and parameter variations cause a steady and/or transient error in the conventional DC servo drive system. The proposed adaptive control system recovers from this error quickly and completely. This system is designed on the basis of both an observer theory and a passive adaptive control theory. Experimental results confirm the versatility and robustness of the method