Self-tuning digital controllers for servo systems

Adaptive self-tuning systems have been the subject of a great deal of research effort in recent years. Practical applications have lagged behind such work, in the main being applied in the process industries. Few serve applications have been reported, the wide bandwidths and demanding performance specifications raising problems not found in the process world. The research project described here is concerned with the use of self-tuning digital controllers applied to servo systems, specifically an electro-mechanical actuation unit. Practical limitations, such as stiction, friction and velocity saturation effects are taken into account. [Continues.]