Auto-tuning of a LQ controller for industrial motion control

Proposes a motion control autotuner for handling systems driven by electrical servomotors. The latter is characterized by its ease of use and high performances: fast tracking dynamics without overshoot, offset-free positioning, and appropriate stability margin. The specifications have been defined from the conclusions of a survey of heavy motion control users such as car manufacturers and mechanical constructors. A real-time experimental evaluation is given to show the performances of the autotuner. The involved autotuning experiments are consistent with a safe operating mode of the mechanical systems