Design of a model-following servo controller for multiple-input-multiple-output systems with improved robustness

Abstract

In this paper, we describe the development of a Model-following Servo Controller (MFSC) for multiple-input-multiple-output (MIMO) systems. MFSC is an extension of a MIMO I-PD controller based on an integral-type optimal servo mechanism (IOS). The controller we developed was designed to have improved robustness against disturbances by multiplying the integration gain by a constant. We confirm the robustness of the proposed method by applying input-side disturbance.