Study of optimal controller design & experiment to minimize tracking error

추적오차를 최소화 하기위한 최적제어기 설계및 실현화에 관한 연구

This paper utilizes an optimal control law for the accurate tracking servo system design. The devivation of a simple control law implementing microprocessor is made to minimize position and speed error of the controller. The 16 bit microprocessor receives command angular position and calculate the control algorithm for accurate tracking and provides control system gain scheduling to achieve very short settling time. Simulation results and some experimental results of the position controlled tracking using 4.5Kw DC servo motor are shown.