A modified approach to the design of robust speed and position control of servo drives

In the paper a robust control of position servodrives is analysed. A modified approach to design robust speed and position controller is proposed, which leads to a trajectory of motion invariant to load torque and system parameters variations The proposed controller structure consists of nonlinear controller of position, speed and acceleration and optional sliding mode controller, operating with reference model. Simple formulas for controller settings, given in the paper, ensure good robustness even if roughly estimated system parameters are used. Performed experimental investigations verified theoretical results and prove good quality of control.