Robustness evaluation for point-to-point positioning control of a one mass rotary system

Abstract

In this paper, the Continuous Motion (CM) NCTF controller is proposed for a point-to-point (PTP) positioning system of a one mass rotary system. For this system, the CM-NCTF controller is designed based on the conventional structure of NCTF controller and improved. The CM-NCTF controller consists of Nominal Characteristic Trajectory (NCT) and Proportional Integral (PI) compensator. It is designed without knowing exact system modeling and parameter evaluation. The NCT is constructed from open loop responses while the PI compensator is designed based on the constructed-NCT itself. The effectiveness of the CM NCTF controller is evaluated and compared with the PID controller for positioning and tracking motion performances experimentally. The robustness of the CM NCTF controller is validated by varying the mass load. Overall, the CM-NCTF controller demonstrates promising positioning and tracking performances, and low sensitivity towards the change of mass load in comparison with the PID controller.