Lyapunov Stability Re-Analvisis of IP Servo Systems

IP 서보 제어 시스템의 Lyapunov 안정도 해석

In this paper, by means of Lyapunov second method, we analyze the stability of IP control servo systems in the time domain for the first time. Based on the results on the stability analysis, the design rule to select the gain of IP control is suggested such that the maximum error of output to the nominal system is guaranteed for all uncertainty and load variations. An example of a speed control of brushless dc motor given to prove the unusefulness of the gain design rule.