Skip to Main Content
This paper describes a two stage control system based on an optimal control system with the feedback of difference between the controlled plant output and the plant model output. It is combined a speed control system and a position control system. The speed control system controls the speed before a changeover point, and the position control system controls the position after the changeover point. To change the control system continually, the changeover point has to be determined pertinently. The position control system controls the position from changeover point to set-point, so that the overshoot is irrespective of the set-point. Although the two stage control system without the feedback of the difference between the controlled plant output and the plant model output is remained the steady-state error in the disturbance response, the proposed method does not have it.