Title :
Performance predictable design of robust motion controllers for high-precision servo systems
Author :
Kim, Bong Keun ; Chung, Wan Kyun
Author_Institution :
Robotics & Bio-Mechatronics Lab., Pohang Univ. of Sci. & Technol., South Korea
Abstract :
A performance predictable design method of robust motion controllers for high-precision servo systems is proposed. A stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. A robust internal-loop compensator (RIC) is proposed based on the internal model following control. Using the structural characteristics of the proposed RIC, disturbance attenuation properties and the performance of the closed-loop system determined by the variation of controller gains are analyzed. Through this analysis, in some specific applications, it is shown that if the control gain of RIC is increased by N times, the magnitude of error is reduced to its 1/N
Keywords :
Lyapunov methods; closed loop systems; compensation; control system synthesis; feedback; machine control; motion control; robust control; servomechanisms; Lyapunov redesign; closed-loop system; control gain; disturbance attenuation properties; high-precision servo systems; internal model following control; performance predictable design; robust internal-loop compensator; robust motion controllers; stabilizing control input; structural characteristics; uncertainty; Attenuation; Control system analysis; Control systems; Design methodology; Motion control; Performance analysis; Performance gain; Robust control; Servomechanisms; Uncertainty;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.946085
