제어로봇시스템학회:학술대회논문집
- 1988.10a
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- Pages.154-159
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- 1988
A hyperstable cascade control scheme for chattering reduction in discontinously controlled servo systems
불연속 제어 서보시스템에서의 chattering 저감을 위한 hyperstable cascade control
- Yoon, Tae-woong (Power Controls Lab. / KAIST) ;
- Choy, Ick (Power Controls Lab. / KAIST) ;
- Kim, Kwang-Bae (Power Controls Lab. / KAIST)
- Published : 1988.10.01
Abstract
In this paper, a hyperstable cascade control scheme for servo drive systems is proposed to reduce the chattering, which is an undesirable property in discontinuously controlled systems. First, a discontinuously controlled hyperstable MRAC scheme is designed with respect to PI speed control system using only output variables, and then a linear position controller is cascaded. It is shown that the above system is asymptotically stable and the chattering is greatly reduced at a constant speed provided that the disturbance torque satisfies a certain condition.
Keywords