Advanced servo-drive reference-model control application

The main topic of this article was to evaluate control structure with reference model for control of electric drive. The well known cascade control structure is used in industrial electric drives control units, where current, speed and position loops are encapsulated together. The control theory knows the advanced control structures where reference model and real plant behavior is compared to obtain error signals to calculate proper control action. The implementation difficulties are the main disadvantage if we want to evaluate the properties and limitations of this nontraditional control structures.