Disturbance suppression on an acceleration control type DC servo system

Abstract

The acceleration-control-type servo system is proposed as a novel design paradigm for servo systems. This system has an excellent performance with respect to disturbance suppression, because the total acceleration including the load torque and various kinds of frictional torques can be controlled directly. Some experiments show the effectiveness of the proposed system. The system's relationship with the feedforward-compensation-type servo system using a disturbance torque observer is discussed.<>