Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Design of Robust Motion Controllers with Internal-Loop Compensator

내부루프 보상기를 가지는 강인 동작 제어기의 설계

  • Published : 2001.10.01
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Abstract

Disturbance observer, adaptive robust control, and enhanced internal model control are model based disturbance attenuation methods famous for robust motion controller which can satisfy desired performance and robustness of high-speed/high-accuracy positioning systems. In this paper, these are shown to be the same scheme with different parameterizations. To do this, a generalized framework, called as RIC(robust internal-loop compensator) is proposed and the conventional schemes are analyzed in the RIC framework. Through this analysis, it can be shown that there are inherent similarities between the schemes and advantages of the RIC in the viewpoint of controller design. This is verified through simulations and experiments.

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References

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