Lyapunov Stability Analysis of IPD Control for 2nd Order Regulation Servo Systems

2차 레귤레이션 서보 시스템을 위한 IPD 제어의 Lyapunov 안정도 해석

In this paper, by means of Lyapunov second method, the stability of IPD control servo systems is analyzed in the time domain for the first time. Based on the results of the stability analysis, the design rule to select the gain of IPD control is suggested such that the maximum error of output to the nominal system is guaranteed for all uncertainty and load variations. An example of a position control of a brushless dc motor is given to prove the unusefulness of the gain design rule.