Disturbance rejection of nonlinear servo system by self-tuning control

Abstract

This paper copes with a design of a control for a nonlinear servomotor. Rejection disturbance algorithm is incorporated into the controller. A control based on polynomial approach is used as a suitable strategy for a rejection of the measurable disturbance. The regression output error models are used in the identification part. The parameter estimates of the process and disturbance models were computed using the least squares method extended by an adaptive directional forgetting. The controller synthesis is based on polynomial theory - pole assignment method. The designed controller was applied to a laboratory servo system Amira DR300 in real-time conditions.