Abstract
We study in this paper nonlinear control of a rotary DC servo motor application. To be more specific, we design a reduced-order two-degree-of-freedom (2DOF) composite nonlinear feedback (CNF) controller for a Quanser QUBE-Servo 2 unit with a disc attachment. We compare our results with a carefully tuned proportional-derivative (PD) controller with set point weighting. Our simulation and experimental results show that the closed-loop system using 2DOF CNF controller yields much better set point tracking performance compared with the system using conventional PD-controller in terms of settling time.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 56th IEEE Conference on Decision and Control |
| Place of Publication | Melbourne, Australia |
| Pages | 2065-2071 |
| Number of pages | 7 |
| ISBN (Electronic) | 978-1-5090-2872-6 |
| DOIs | |
| Publication status | Published - 12 Dec 2017 |
| Publication type | A4 Article in conference proceedings |
| Event | IEEE CONFERENCE ON DECISION AND CONTROL - Duration: 1 Jan 1900 → … |
Conference
| Conference | IEEE CONFERENCE ON DECISION AND CONTROL |
|---|---|
| Period | 1/01/00 → … |
Keywords
- Nonlinear control
- Composite nonlinear feedback
- motion control
- Robust control
- High performance control
- Servo systems
Publication forum classification
- Publication forum level 1
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Mechanical Engineering