TY - JOUR
T1 - Dynamic switching of two degree-of-freedom control for belt-driven servomechanism
AU - Chen, Chun Lin
AU - Tsai, Mi Ching
N1 - Funding Information:
This work was supported by the Ministry of Science and Technology (MOST), Taiwan, under Grant MOST 106-2221-E-006-251-MY3 and Grant MOST 106-2218-E-006-023.
Publisher Copyright:
© 2018 IEEE.
PY - 2018
Y1 - 2018
N2 - This paper proposes a new two degree-of-freedom control structure such that the robustness control of a belt-driven servomechanism is adequately addressed. In conventional design approaches, a trade-off between robust stability and robust tracking performance is unavoidable because the control engineer must take different frequency regions into consideration. In this paper, a frequency-dependent switching control structure is proposed, where the feedback connection to the external-loop controller is dynamically switched between the outputs of the controlled plant and its nominal model. The disturbance attenuation at lower frequencies by the double-loop control, as well as the robust stability at higher frequencies through the reference feedforward control, can be achieved at one fixed two degree-of-freedom control structure. The feasibility of the proposed approach is verified by theoretical analysis and experimental results.
AB - This paper proposes a new two degree-of-freedom control structure such that the robustness control of a belt-driven servomechanism is adequately addressed. In conventional design approaches, a trade-off between robust stability and robust tracking performance is unavoidable because the control engineer must take different frequency regions into consideration. In this paper, a frequency-dependent switching control structure is proposed, where the feedback connection to the external-loop controller is dynamically switched between the outputs of the controlled plant and its nominal model. The disturbance attenuation at lower frequencies by the double-loop control, as well as the robust stability at higher frequencies through the reference feedforward control, can be achieved at one fixed two degree-of-freedom control structure. The feasibility of the proposed approach is verified by theoretical analysis and experimental results.
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U2 - 10.1109/ACCESS.2018.2884218
DO - 10.1109/ACCESS.2018.2884218
M3 - Article
AN - SCOPUS:85057827839
SN - 2169-3536
VL - 6
SP - 77849
EP - 77858
JO - IEEE Access
JF - IEEE Access
M1 - 8554269
ER -