Simple Design Method of Two-Degree-of-Freedom PID Position Controller Based on Pole-Zero-Assignment for Linear Servo Motors

This paper presents an improved design method of Two-Degree-Of-Freedom (TDOF) PID position controller based on pole-zero-assignment suitable for Linear Servo Motor (LSM) drives. This method can be applied to both positioning and tracking drives by simply specifying pole-angle in the s-plane. Furthermore, the disturbance suppression characteristic can be adjusted by changing the crossover frequency of sensitivity and complementary sensitivity functions.Simulation and experimental results on a vector-controlled LSM validate the proposed method.