in this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. it provides both robust tracking and load swing suppression. inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. the crane nonlinearities are then tr...

This paper addresses the experimental identification of a servo actuator which is used in many industrial applications. Because the system consisted of electrical and mechanical components, the behavior of the system was nonlinear. In addition, the under load behavior of this servo was different. The load torque was considered as the input and a two input-one output model was presented for t...

The gimbal stabilization mechanism is used to provide the stability to an object mounted on the gimbal by isolating it from the base angular motion and vibration. The purpose of this paper is to present a model of control servo system for one axis gimbal mechanism using a cascade PID controller. The gimbal torque relationships are derived by taking into consideration the base angular motion. Th...

In this study, the control performance of a hydraulic servo system with a feedback linearization compensator is investigated. The focus of this study is set on the quantitative investigation of the effects(sensitivities) of disturbances and system parameters’ variation on control performances of the hydraulic control system. Finally, verifies the efficacy of a disturbance observer to overcome t...

The ball and beam system is one of the most popular laboratory setups for control education. In this paper, we design a fuzzy PD cascade controller for a ball and beam system using Asexual Reproduction Optimization (ARO) technique. The ball & beam system consists of a servo motor, a grooved beam, and a rolling ball. This system utilizes a servo motor to control ball’s position on the beam. Chan...

This article is the first of a two-part series on the topic of visual servo control—using computer vision data in the servo loop to control the motion of a robot. In the present article, we describe the basic techniques that are by now well established in the field. We first give a general overview of the formulation of the visual servo control problem. We then describe the two archetypal visua...

The discrete-time linear quadratic optimal problem with finite final time for a servo-drive system with a brushless or a dc motor is presented. The proposed algorithm allows simplifying the optimal control law implementation. The optimal control ensures a good behavior of the system and the decrease of the energy consumption. Key-Words:Optimal control, Brushless, DC machines, Efficiency, Servo ...