한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제14권4호
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- Pages.88-96
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- 1997
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
견실한 비선형 마찰보상 이산제어 - 이론
Robust Digital Nonlinear Friction Compensation - Theory
초록
This paper suggests a new non-linear friction compensation for digital control systems. This control adopts a hysteresis nonlinear element which can introduce the phase lead of the control system to compensate the phase delay comes from the inherent time delay of a digital control. A proper Lyapunov function is selected and the Lyapunov direct method is used to prove the asymptotic stability of the suggested control.
키워드