Advanced Motion Control Design

Experimentally supported control design for a direct drive robot

“…However, if high-quality performance of trajectory tracking is needed, the standard controllers may lead to unsatisfactory results. Articles [3,9] address conflicting influences of these controllers on low-frequent accuracy, system stability, and damping of high-frequency disturbances. The conventional controllers assume use of full state information, i.e., availability of both position and velocity coordinates.…”

“…We believe that a controlled system can be pushed to the feasible limits of performance and robustness only if all noticeable plant peculiarities are recognized and taken into account in control design. Our control approach relies on the reasoning promoted in [9]. It has been established in industrial practice with optical storage systems, where high performance and robustness of motion control are essential objectives.…”

Fractional order control of a DC motor with load changes

“…Thus, these types of systems are usually characterized by significant nonlinearities and tight performance specifications [1]. Due to these features, the main challenge in the design and analysis of mechatronics systems consists in an accurate modelling [2], [3]. Whenever such a model is difficult to be obtained precisely, the controller needs to be properly designed in order to compensate for the modelling uncertainties and to preserve the closed-loop performance at various operating points.…”

Notch filters for port-Hamiltonian systems

“…An inverse notch filter simply does the opposite of a notch filter, it only passes signals which are centered around a center frequency. Inverse notch filters are usually used for disturbance attenuation since high feedback gain is applied at the disturbance frequency [22].…”