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A parameterized design of speed servo controller for brushless DC motors is presented based on a robust composite nonlinear control framework. The servo controller consists of a linear control part for achieving fast response, a nonlinear feedback part for suppressing the overshoot, and a disturbance compensation mechanism for erasing the steady-state error. A reduced-order extended state observer...
This paper proposes an alternative design of expanded proximate time-optimal servomechanism (PTOS) controller for typical servo systems characterized by an integrator cascaded with a damping block. The control law is parameterized by the damping ratio and natural frequency of the closed-loop poles within a speed-dependent linear region. The control scheme aims to accomplish maximum acceleration or...
A control scheme is proposed to achieve fast and accurate set-point servo motion in typical double integrator systems subject to disturbances and speed constraint. The controller consists of a Proximate Time-optimal Servomechanism (PTOS) control law and a compensation term for the unknown disturbance. An extended state observer is adopted to estimate the un-measured velocity signal and the unknown...
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