Application of modern control techniques to motor control

An overview is presented of digital control problems arising in the use of microprocessors and the application of modern control theory, from both the theoretical and practical viewpoints. The discussion covers optimal control, robust control, feedback and feed-forward control, and active and passive adaptive control. Various application are described, drawing on the author's own experience. It is concluded that a robust optimal digital controller for motor control can be practically designed and implemented with currently available techniques and hardware.<
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