High-Precision Constant-Speed-Rotation Control Using Nonlinear Compensation

Elimination of Position-Dependent Disturbances

Abstract

To eliminate position-dependent disturbances in a control system for a constant-speed of rotation, we have proposed a very effective approach by introducing a new concept called the “position domain”. However, because the position domain model of a linear plant is in fact nonlinear, a linear control strategy may not meet the design requirements. To solve this problem, we propose a nonlinear compensation approach in this paper. The procedure for designing a control system comprises two steps. First, an input-output exact linearization approach is used to linearize the nonlinear plant in the position domain. Then, a repetitive controller is designed for the linearized plant to ensure good performance.