A positional servo drive with filtered PID control

The paper deals with the design, tuning and analysis of a positional servo drive with PID controller. The paper compares properties of control loop when filtered or non-filtered position feedback signal is used. The tuning of controller is done via pole placement method for required value of IAE (Integral of absolute error). To minimize the position error, the feedforward has been proposed. The properties of presented control structures have been verified by experiments.