Self-tuning control of nonlinear servomotor with disturbance rejection

Abstract

The contribution is focused on a design of a control algorithm for a nonlinear servomotor with disturbance rejection using adaptive control strategy. It is obvious that for a rejection of the measurable disturbance is a suitable control strategy based on polynomial approach. The regression (output error) models are used in the identification part, the parameter estimates of the process and disturbance models were computed using the least squares method extended by a directional (adaptive) forgetting. The controller synthesis is based on polynomial theory - pole assignment method. The designed controller was applied to a laboratory servo system Amira DR300 in real-time conditions.