A new optimal speed controller design method for an oscillatory servomotor system

A new controller design method for an oscillatory servomotor system withlow torsional resonant frequencyis investigated to directly satisfyte given time domain specifications under the hardware constraints. A PIDM controller with optimized feedback gains using a new time weighted modelfollowing performance index is employed in this system. Necessaryconditions for optimality are derived and a design procedure for the desired moedel system considering the actualhardware limitations are also syggested. Using the proposed technique, the output responese of an oscillatory servomotor system can closely match to that of a desired model system by effectively suppressing the torsional resonant phenomenon. The usefulness of proposed design technique is clearly shown in the design examples.