Servo Controller Design for A Compliant Load System

The motivations behind this paper is to propose a robust compensator to improve the response of a dc servo with compliant load. The low frequency lightly damped mode induced by this inherent compliance will limit the bandwidth of the servo system. In this paper, a VSS-based compensator is designed to improve the overall system performance. Finally, the robustness of this controller, subjected to parameter variation, is investigated through computer simulations and experiments. It is seen that the proposed design will suppress the dominant vibrational mode and result in a fast and accurate positioning and tracking control for a compliant load servo system.