Analysis and Design of Robust Internal-Loop Compensator

강인 내부 보상기의 설계와 해석

A robust controller design methodology is proposed, where the proposed controller consists of a servo controller at the outer loop as well as the robust internal-loop compensator (RIC) to eliminate the model uncertainty and external disturbance. It is shown that RIC is general structure of DOB and ARC. Numerical example is illustrated to show validities of the proposed robust controller.