Output-Feedback Proportional-Type Positioning Technique for Servo Systems via Speed-Loop Adaptation Mechanism

This brief presents a simple proportional-type position regulator for servo systems independent from the actual servo system parameter information without speed and current feedback requirements. First, the extended state observer embedded in the modified gain structure implements the parameter-independent speed and its acceleration estimation mechanism, making it possible to design the output-feedback system structure. Second, the inner-loop controller consists of the speed-loop adaptation algorithm and pole-zero cancellation acceleration error stabilizer to maintain the closed-loop positioning performance at the desired level. The experimental validation is included to demonstrate the feasibility of the proposed solution using the experimental platform consisting of QUBE-servo2 and myRIO-1900.