Pole selection of feedforward compensators considering bounded control input of industrial mechatronic systems

A new pole selection method for feedforward compensators of mechatronic servo systems is presented in this paper. It is necessary to have the system poles located at desirable positions on the s-plane in order to realize better servoing performance. However, selection of new poles is not a straightforward problem and in most industrial mechatronic systems, it has been a mere cut-and-dry procedure. In this research, feedforward compensator poles are related to the control input, and a criterion was developed to determine the desirable poles that improve the control input within its limits. This method was developed for the second-order model and it was simulated and experiments were performed with the Performer MK3s articulated industrial robot manipulator. Some attractive results have been obtained with the new method.