Experimental Verification and Analysis of Closed Loop Characteristics in Trimming Method of Target Response Characteristics Using FRIT for ILQ Servo Systems

Abstract

Control systems for mass-produced products are allowed to have tolerances for each of their components.herefore, the model parameters of the controlled object also have a certain tolerance, and are designed based on nominal values while taking into account perturbations. As a result, the target value response characteristics also have a certain range of variation.A design method has been proposed that uses data from a single experiment to restore the nominal target value response characteristics.In this paper, the effectiveness of this method is verified through experiments using an “arm-type LEGO crane”. Furthermore, two features that hold for a closed-loop system using a controller obtained based on this method are presented. A method for utilizing these properties during implementation is then presented.