High-Performance Tracking Controller Design for Rotary Motion Control System

Abstract

A robust tracking controller design was developed for a rotary motion control system. The friction forceversus the angular velocity was measured and modeled as a combination of linear and nonlinear components. By adding a model-based friction compensator to a nominal proportional integral derivative controller, it was – –possible to build a simulated control system model that agreed well with the experimental results. Azero-phase error tracking controller was selected as the feedforward tracking controller and implemented basedon the estimated closed-loop transfer function. To provide robustness against external disturbances andmodeling uncertainties, a disturbance observer was added in the position feedback loop. The performanceimprovement of the overall tracking controller structure was verified through simulations and experiments.