Analysis and Design of Robust Motion Controllers in the Unified Framework

Abstract

Model based disturbance compensating methods such as disturbance observer, robust control with adaptive algorithm, enhanced internal model control are well known control structures for robust motion controller which can satisfy desired performance and robustness of high-speed/high-accuracy positioning systems. In this paper, these are analyzed in the unified framework and their design method is proposed. To do this, a generalized disturbance attenuation framework named RIC (robust internal-loop compensator) structure is introduced. Through parameterization based on RIC, it is shown that there are inherent equivalences in their structures and the proposed RIC gives a general design framework for the model based disturbance compensating methods. Through simulation, the proposed method is verified.