Abstract
The development of high performance controllers capable of dealing with both tracking control and disturbance rejection has attracted considerable attention. This paper investigates the two-degree-of-freedom control structures with a disturbance observer and command feedforward control, respectively, and presents a double-loop control structure. The proposed control structure allows intuitive and independent tuning of disturbance rejection as well as tracking performance. Experimental results obtained from an illustrated servo control system are given to demonstrate the effectiveness and feasibility of the double-loop control structure and design methodology.
Published Version
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