Abstract
A control system for positioning d-c servomotors is described and its performances are analyzed by means of a theoretical analysis and some experimental tests. This control system includes a high gain internal velocity control loop inside a digital position control loop. The latter consists of a proportional controller and a disturbance observer based on a model of the velocity control system. It is shown that this control system gives better results than conventional controllers and may be very well applied to low cost improvements of existing positional control systems.
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