Nonstationary Optimal Servo Control Realizing Smooth Switching from Velocity Servo to Position Servo

Abstract

In mechanical structures such as information precision machinery, the switching from a velocity servo controller to a position servo controller is often utilized. This study proposes a unified design method of both the servo controllers based on the optimization of single time-varying criterion function. This method realizes the smooth switching of the control modes. The effectiveness of the method for a positioning problem of vibration system is verified by numerical calculations.