Generalized robust servosystem design based on the parametrization of two degrees of freedom controllers

A generalized robust control system design technique for DC servomotors, which is based on the parametrization of two-degrees-of-freedom controllers, is proposed. This servo system greatly improves the characteristics of closed-loop systems, namely, their disturbance suppression performance and their robustness, without changing the command input response. Experimental results are presented showing the excellent control performance obtained.<
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