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A Linear-State Feedback Plus Adaptive Feed-Forward Control for DC Servomotors

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1 Author(s)
Kelly, R. ; DEPFI, the National University of Mexico, C. Universitaria, Apdo. Postal 70-256, 04510 México, D. F., Mexico.

This paper proposes a linear-state feedback plus adaptive feed-forward control to control position for DC servomotors. The aim is to control DC servomotors submitted to inertia and Coulomb friction variations. Conditions for stability depending on the frequency richness of the reference input are presented. Experimental results show the improvement with respect to classical tachometric feedback.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:IE-34 ,  Issue: 2 )