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In this thesis position feedback is used to construct the
control structure, as opposed to the conventional approach for
designing an inner/outer loop multi-feedback control structure.
This is so that the restrictions of multi-loop control structure
can be relaxed. A two degree-of-freedom (2DOF) servo system is
proposed, in which the integrator is effective in rejecting the
tracking error. The robust control law is adopted to design a
two input/one output controller. In Addition, S-curve profiling
is incorporated into the step moving command to provide smoother
motion control. This is achieved by reducingthe jerk in
acceleration and deceleration portions of the move profile. A
gain tuning approach is also proposed to deal with the inertia
change of the servo system. The control structure is simulated
using MATLAB computer software before being implemented into the
DSP module and the motor installation. The experimental results
are analyzed to prove the control structure is appropriate and
practical.
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