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Title: Composite nonlinear control for discrete-time positioning servo systems
Authors: Cheng, G.-Y.
Peng, K.-M. 
Wang, H.
Keywords: Compensation
Servo systems
State observer
Issue Date: Jan-2010
Citation: Cheng, G.-Y.,Peng, K.-M.,Wang, H. (2010-01). Composite nonlinear control for discrete-time positioning servo systems. Dianji yu Kongzhi Xuebao/Electric Machines and Control 14 (1) : 95-101. ScholarBank@NUS Repository.
Abstract: A discrete-time composite nonlinear control scheme is proposed to achieve fast and accurate set-point tracking for servo systems subject to disturbances and actuator saturation. The control scheme incorporated a mechnism of disturbance estimation cum compensation into the framework of composite nonlinear feedback (CNF) control. The CNF control law consisted of a linear feedback part for achieving fast response and a nonlinear feedback part for suppressing the overshoot, so as to improve the transient performance. A reduced-order observer was adopted to estimate the unmeasurable state variables and unknown constant disturbance, and then used for compensation to remove the steady state error. Closed-loop stability with the proposed control scheme was analyzed theoretically. The control scheme was applied to a servo system modeled by a double integrator. Simulations were carried out, and a comparison was made with a previous CNF scheme, which resorted to integral control for rejecting disturbance. The results confirm that the proposed control scheme has a better performance robustness in set-point tracking tasks.
Source Title: Dianji yu Kongzhi Xuebao/Electric Machines and Control
ISSN: 1007449X
Appears in Collections:Staff Publications

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