Robust Cascade Control inside a New Model-Matching Architecture

Whenever additional states of a plant can be measured, closing nested feedback loops exploited in variety ways. The goal here is to reduce the bandwidth controllers and thus amplification sensor noise that otherwise spoil expected performance when actuator saturates. This particularly relevant for demanding tracking specifications large uncertainties. In this context, current work proposes novel model-matching control architecture with feedforward controller two controllers, which accompanied by new robust design method frequency domain Quantitative Feedback Theory (QFT). use reduces amount minimum necessary constrain spread error responses as specified. Furthermore, quantitatively distributed along between inner outer total at input much possible. A theoretical example illustrates highlights advantages over other previously feasible QFT solutions: one double another single plus feedforward. importance choosing correct switching also demonstrated. Finally, angle rotation commercial servo motor successfully controlled using speed an internal measure.