Abstract
The transient response of a positioning servo is improved as it repeats a sequence of motions. To this end, a discrete-time controller is added to the servomechanism. The controller detects a fixed number of samples of control error after each change of reference level. The sampled error is processed to modify the manipulating signal in the next cycle of the motions. This control action causes the response of the servomechanism to converge to a series of dead-beat responses.
Unlike conventional dead-beat control methods that require accurate modeling of the controlled system, the proposed control permits a controller design based on an approximate model, and is expected to hold the dead-beat response in the presence of parameter perturbations. A simulation result shows that one can improve the transient response appreciably even with a reduced-order model of the plant.
Though single-input single-output case is discussed in the paper, the treatment and the results are directly applicable to multivariable cases.
