Robust and perfect tracking control of a DC servo motor

Research output: Chapter in Book/Report/Conference proceedingConference contributionProfessional


Robust and perfect tracking (RPT)
approach enable engineers to design low-order model-
based controllers, which result in closed-loop systems
that are able to yield fast tracking of target references
with small overshoot. In fact, an RPT controller’s
performance can be adjusted using a single positive
scalar tuning parameter, say ϵ, which guarantees
internal stability of the closed-loop system and yields
arbitrary fast settling time in the faces of external
disturbances and initial conditions as long as control
signal is free from physical constraints. In reality,
physical constraints must be considered, and hence,
arbitrary fast tracking can never be achieved.
This paper presents the design of a closed-form
parameterized two-degree-of-freedom (2DOF)
integrating controller using RPT approach for a DC
servo motor application. The simulation and experimental results show that
the closed-loop system using the RPT controller yields
better positioning performance as measured by the
settling time. In addition, the closed-loop system with
the RPT controller has larger stability margins and lower
sensitivity compared with the system using the PID
Original languageEnglish
Title of host publicationAutomaatiopäivät 23
Subtitle of host publication15-16.5.2019, Oulu
EditorsEsko Juuso
Place of PublicationOulu
PublisherSuomen Automaatioseura
ISBN (Print)13 978–952-5183-54-2
Publication statusPublished - 15 May 2019
Publication typeD3 Professional conference proceedings
EventAutomaatiopäivät -
Duration: 20 Aug 2019 → …


Period20/08/19 → …


  • Robust and perfect tracking
  • Servo control
  • Control applications
  • Linear systems

ASJC Scopus subject areas

  • Control and Systems Engineering


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