A learning approach to high precision speed control of servo motors

Abstract

Presents a computationally simple learning control method which is ideally tailored to high precision speed control of servo motors in the presence of the mechanical disturbance which is unknown, unstructured, and state-dependent. The authors' learning control algorithm can drive the steady state speed error to zero and, furthermore, can be used to identify the mechanical disturbance in look-up table form. In order to demonstrate the generality and practical use of their work, the authors present the convergence analysis of their learning control algorithm and some experimental results using a single degree-of-freedom manipulator.