Adaptive Nonstationary Servo Positioning Control Switching from Velocity Servo to Position Servo

The author has proposed a regulator-type adaptive nonstationary control (ANSC) method using time-varying Riccati equations (TVREs). In ANSC method, the time-varying feedback gains are obtained by real-time computations in actual implementations. This feature enables ANSC method to realize some adaptive control. By the way, the switching control from a velocity servo controller to a position servo controller is often utilized in mechanical structures such as information precision machinery. Then, this study improves ANSC method and proposes an adaptive nonstationary servo control (ANSSC) method realizing a unified design of both the servo controllers and the smooth mode switching. ANSSC possesses some adaptiveness for time-varying parameters of controlled objects. The effectiveness of the proposed method is verified experimentally by applying it to a positioning control problem of a flexible structure.