Abstract
Servo control is one of the most important control techniques for motion control of mechanical structures. In order to suppress the stationary error between a reference trajectory and a servo system response, servo controllers often include the integral characteristic. For example, LQI (Linear Quadratic Integral) optimal control is one of the standard selections for designing servo control systems. Nonstationary optimal regulator (NOR) is another motion control method which produces superior vibrationless trajectories for the positioning control problems of vibration systems. This study discusses a unified design method of the time-varying gain type access control similar to NOR and the integral type servo control similar to LQI control by means of a frequency-shaped time-varying criterion function. This method realizes two high performance control modes and the smooth switching of the modes by the optimization of the single criterion function. The effectiveness of this method is verified by numerical calculations and experiments.
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