In order to improve the contouring accuracy of a biaxial servomechanism and the robustness against disturbance, a cross-coupled controller with a disturbance observer is studied, as well as the optimal tuning based on the integrated design methodology is proposed. Strict mathematical modeling and identification process of a servomechanism are performed first. An optimal tuning problem is formul...

In this paper we consider the servomechanism problem for SISO positive LTI systems. In particular, we solve the robust servomechanism problem of nonnegative constant reference signals for stable SISO positive unknown LTI systems with constant nonnegative unmeasurable disturbances under strictly nonnegative control inputs, using a clamping tuning regulator.

Actuators used in hard disk drives (HDD) are produced en mass and therefore their dynamic properties vary within a given tolerance bound. A nominal model representing the batch of actuators is used to design the head positioning servomechanism. Equal performance can not be expected for all actuators when such controller is used. Disk drive servomechanism is expected to provide performance with ...

This paper presents two approaches used to control a 2-axis servomechanism by gesture recognition. For both approaches, the adopted control philosophy was: In the system’s learning phase, the control images are acquired by a generic webcam and associated to the desired orders. On the other hand, in the working phase, each control image is acquired, by the same webcam and, by comparison with the...

The position control algorithm for a beltdriven servomechanism of the laser cutting machine is described. High-accuracy position tracking control procedure for system with inherent elasticity due to the low-cost belt-driven servomechanism is derived based on continuos sliding mode technique. The proposed robust position tracking control algorithm was tested by simulations and used in the indust...

A system identification method in the frequency-domain is proposed for a servomechanism with nonlinearities. A linear part of the servomechanism is identified exactly without distortion due to inherent nonlinearities through the proposed method. Parameters of the nonlinearities, including both Coulomb and viscous friction, are identified by the use of limit cycle analysis and describing functio...

The laser signature, which can be observed as a result of the CO2 laser tuning, is used as a standard for calibration of the servomechanism. The servomechanism can be used for continuous investigations of the laser signatures of different laser media. Finally, some convenient signatures useful for a laser marker or single frequency laser operation can be find.

Sliding mode control with a fuzzy boundary layer is presented to hydraulic position control problem in this paper. A nonlinear hydraulic servomechanism which has an asymmetric cylinder is modeled and simulated first, then the proposed control scheme is applied to this model versus the conventional sliding mode control. Simulation results proved that the chattering free position control is achie...

This paper proposes an adaptive PID controller based on linear extended state observer (LESO) for the two-degree-of-freedom joint servomechanism of industrial robot with time-varying load, uncertainties parameters and disturbance. The third-order space equations system approximate model is established to obtain LESO which applied estimate values total reference algorithm used variable moment in...

Design and Implementation of Discrete Time Observer Based Backstepping Controller for a 2DOF Servomechanism