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Design of Robust Motion Controllers with Internal-Loop Compensator
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 Title & Authors
Design of Robust Motion Controllers with Internal-Loop Compensator
Kim, Bong-Geun; Jeong, Wan-Gyun;
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 Abstract
Disturbance observer, adaptive robust control, and enhanced internal model control are model based disturbance attenuation methods famous for robust motion controller which can satisfy desired performance and robustness of high-speed/high-accuracy positioning systems. In this paper, these are shown to be the same scheme with different parameterizations. To do this, a generalized framework, called as RIC(robust internal-loop compensator) is proposed and the conventional schemes are analyzed in the RIC framework. Through this analysis, it can be shown that there are inherent similarities between the schemes and advantages of the RIC in the viewpoint of controller design. This is verified through simulations and experiments.
 Keywords
2-Loop Structure;Robust Internal-Loop Compensator;Disturbance Observer;Adaptive Robust Control;H Mixed Sensitivity Method;
 Language
Korean
 Cited by
1.
코깅토크 측정장치 직접구동용 영구자석 동기전동기의 정밀속도 제어,박철훈;손영수;함상용;김병인;윤동원;

한국정밀공학회지, 2009. vol.26. 5, pp.79-86
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