Bang-bang position control of direct drive motor

Abstract

A time-suboptimal control law for a direct-drive motor is proposed. It is a bang-bang type control law, providing an almost minimal time response by taking the input constraint into consideration. It includes a VSS-type integrator to minimize sensitivity to model mismatching and parameter variation, as well as to take maximum applicable torque and velocity into consideration. The validity of the control law is confirmed through experiments.<>