Non-identifier Based Adaptive Control in Mechtronics Lecture Notes 3.4 (ss2013)

3 Position control: Relative degree two case After introducing the funnel controller for relative-degree-two systems (see class S2), we will now apply it to industrial servo-systems for position control to achieve the reference tracking with prescribed transient accuracy for position and speed. At first reference tracking under load is examined. Even though error and error derivative remain within the funnel, no asymptotic accurancy is achieved. To adress this issue, similar to the relative-degree-one case, internal models are applied, which allow for asymptotic tracking for a certain class of reference signals (see class Yref).