Modelling and Control of a Flexible Link Rotary Servo

This work presents a study on the modelling and control of a flexible link rotary servo. The lab-scale apparatus, consisting of a flexible link attached to the Rotary Servo Work Station, is analyzed using mathematical models derived from fundamental laws of physics. A state variable model is developed and utilized for the design of a Linear State Variable Feedback (LSVF) controller. The designed controller is physically applied to the system. To further enhance the control performance,a parametric uncertainty is included in the system and a robust LSVF controller is designed. Finally a neural network-based PID controller is designed for the same system. The closed-loop responses are compared with that of the traditional PID controller (designed via MATLAB PID toolbox), demonstrating the effectiveness of the neural network control strategy in achieving improved system performance.