Adaptive rejection of velocity-ripple from position transducer in a motion control system

Precision motion control is a fundamental control problem that has encountered numerous applications such as machining, manufacturing, microelectronics, instrumentation, testing, etc. It is recognized that velocity ripple is a major factor affecting the precision of motion control systems. This paper studies the adaptive rejection of velocity ripple caused by the periodic errors in a inductosyn transducer. After a mathematical modeling of the transducer, two adaptive control schemes are presented that compensate the transducer errors. The closed loop adaptive systems are shown to be exponentially stable in both cases. Numerical simulations demonstrate significant reduction in the power spectra of velocity ripple