Pole Placement Controller based on Robust Internal-loop Compensator for High-accuracy Linear Motion System
| Authors: | Park Jung-il, Yeungnam Univ., Korea, Republic of
Jeong Seong-Hyun., Yeungnam Univ., Korea, Republic of
Lee Suk-Gyu., Yeungnam Univ., Korea, Republic of |
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| Topic: | 2.1 Control Design |
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| Session: | Robust Controller Synthesis II |
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| Keywords: | Robust Internal-loop Compensator, Pole Placement Controller, Disturbance Observer, Linear Motor, High Accuracy Motion Control |
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Abstract
In this paper, the pole placement controller based on the Robust Internal-loop Compensator(RIC) structure, which has inherent structural equivalence to disturbance observer, is proposed to control a linear positioning system. This controller has the advantage to easily select controller gains by using pole placement without loss of that of original RIC structure. The principal is to construct the pole placement controller for a nominal internal model instead of unknown real plant. The effectiveness of the proposed controller is shown by linear motion experiments.
