A Design Method of Robust Controller and Its Application to Positioning Servo

Abstract

A practical and systematic method of designing precision positioning servos is proposed in this paper. The method is based on robust control theory and takes the order of the controller, robust stability, and pole assignment into consideration. In the beginning, the design algorithm is generally described and a concrete design procedure is demonstrated by applying the method to the design of a precision positioning servo using a voice coil motor. Furthermore, this procedure is studied in various kinds of simulations, and the design guidelines concerning selection of order of the controller, modeling accuracy, and limit of bandwidth are made clear. Finally, the validity of this method is proven by experiment.