Digital position control of synchronous motors using an optimal state feedback structure

Abstract

A dynamic observer of the load torque yielding a good estimation of the load is derived from a simple model. Using such an adaptive device allows the control of a given synchronous servomotor with characteristics that do no more depend on the load torque. Thus, the mechanical mode could be linearized, and a control law that provides excellent performance, particularly in applications where the load changes significantly (such as in robotics), was implemented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>