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A Reduced-Order Two-Degree-of-Freedom Composite Nonlinear Feedback Control for a Rotary DC Servo Motor

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Details

Original languageEnglish
Title of host publicationProceedings of the 56th IEEE Conference on Decision and Control
Place of PublicationMelbourne, Australia
Pages2065-2071
Number of pages7
ISBN (Electronic)978-1-5090-2872-6
DOIs
Publication statusPublished - 12 Dec 2017
Publication typeA4 Article in a conference publication
EventIEEE CONFERENCE ON DECISION AND CONTROL -
Duration: 1 Jan 1900 → …

Conference

ConferenceIEEE CONFERENCE ON DECISION AND CONTROL
Period1/01/00 → …

Abstract

We study in this paper nonlinear control of a rotary DC servo motor application. To be more specific, we design a reduced-order two-degree-of-freedom (2DOF) composite nonlinear feedback (CNF) controller for a Quanser QUBE-Servo 2 unit with a disc attachment. We compare our results with a carefully tuned proportional-derivative (PD) controller with set point weighting. Our simulation and experimental results show that the closed-loop system using 2DOF CNF controller yields much better set point tracking performance compared with the system using conventional PD-controller in terms of settling time.

Keywords

  • Nonlinear control, Composite nonlinear feedback, motion control, Robust control, High performance control, Servo systems

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