Robust Controller for a Servo Positioning System for Use in Automobiles Designed Using a Delta Operator

Abstract

This paper presents a controller for an electric motor-driven servo positioning system intended for use in automobiles. The controller features a low sensitivity design to provide robustness against eternal disturbances and the non-linearity of the positioning mechanism. The discrete plant model denoted by the sift operator has a zero near the unit circle in the z-plane that can cause oscillation in the electric motor current, resulting in electricor sound noise when the controller is designed to contain the inverse system of the plant. The use of delta operator to denote the discretized plant model make it possible to ignore t is zero.