Application of bilinear Transformation Method to Servo Sysstem Design and Position Control for a Cart System

서보계설계에 대한 쌍선형 변환법의 응용 및 카트의 위치제어

In the paper, the bilinear transformation method is applied to the design of servo system adopting the use of the internal model principle and the pole assignment method in a specified region. The pole assignment problem for the augmented system has been solved by using Tustin's function. The properties of Tustin's function have been shown in relation to the s-plane and z-planes, and the feedback law relationship between the original system and the transformed system has been cleared. The effectiveness of the proposed approach is proved via application for the cart system and the designed cart system is implemented by digital control with microcomputer and A-D/D-A converter.