A compound internal model control method for high performance turntable servo system

Based on model reference adaptive controller (MRAC), differential internal model controller (DIMC) and disturbance observer, a compound internal model control (IMC) method is proposed in this paper for turntable servo control system. IMC uses the error between outputs of object model and actual object as the feedback, and makes the controller close to the inverse of the model to achieve satisfactory control effect. In order to solve the problem of mismatching of parameters, MRAC is employed to design a novel adaptive controller. Differentiator is introduced to construct an improved controller to increase the tracking accuracy. Then disturbance observer (DOB) is introduced to compensate the friction to further improve the tracking accuracy. Simulation results prove that the proposed control scheme effectively increases the tracking accuracy and enhances the system robustness against parameter variations and external disturbances.