서보모터 제어를 위한 $H_{\infty}$ 2-자유도 제어기 개발에 관한 연구

A study on the development of $H_{\infty}$ 2-DOF controller for servo motors

In this paper, $H_{\infty}$ two-degree-of freedom(2-DOF) model following control method is applied for the control of a brushless servo motor to achieve high robust performance. The proposed robust control algorithm designed to meet the robust stability and performances present that the robust control method is superior to conventional control methods in controlling the speed and position of a servo motor. The designed controller is implemented as an outer loop controller to a factory designed motor-servopack system. It is illustrated by simulations that the proposed method is effective to control servo systems.