Robust dynamic stiffness design of linear servomotor drives

Bin Hong Shen, Mi Ching Tsai

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


The pseudo derivative feedback with feedforward (PDFF) control scheme has three constant gains for tuning to achieve good trade-off design between command response and stiffness. For dynamic stiffness enhancement, this paper employs the H loop shaping design concept to obtain a so called advanced PDFF controller which allows dynamic gains in the feedback loop and the pole/zero relationships between the proposed H controller and the closed-loop system are investigated. A linear servomotor design example is given to show how to achieve the desired specifications based on the derived pole placement properties. Experimental and simulated results are given to demonstrate the effectiveness and feasibility of the proposed method.

Original languageEnglish
Pages (from-to)1325-1336
Number of pages12
JournalControl Engineering Practice
Issue number11
Publication statusPublished - 2006 Nov

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics

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