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An Adaptive Control Scheme for Oscillatory Servo Systems

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2 Author(s)
Hong, Z.D. ; Center for Robotics and Advanced Automation, School of Engineering and Computer Science, Oakland University, Rochester, MI 48063. ; Abdel-Aty-Zohdy, H.S.

The application of a new model-following, adaptive control to an electromechanical servo system with low natural resonance frequency is discussed. The design of the adaptation mechanism is based on the use of a special Liapunov function describing the stability domain. Results are presented which show consistent improvement in the dynamic response for a fifth-order, long-shaft, servo system.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:IE-32 ,  Issue: 1 )

Date of Publication:

Feb. 1985

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