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IJAT Vol.2 No.1 pp. 34-42
doi: 10.20965/ijat.2008.p0034
(2008)

Paper:

Application of Robust Control Law for Linear Slider

Satoshi Yamamoto and Shinji Wakui

Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganeishi, Tokyoto 184-8588, Japan

Received:
August 28, 2007
Accepted:
October 9, 2007
Published:
January 5, 2008
Keywords:
linear slider, positioning, 2 degrees-offreedom, robust control, model following
Abstract

The most important specifications in precision positioning are positioning accuracy and settling time. When a positioning sensor based on required specifications is installed in equipment, every effort is made to realize throughput, i.e., high-speed positioning. We applied model-matching 2-degree-of-freedom (DOF) control to a linear slider to realize positioning, but found that positioning waveforms were uneven under different conditions. To overcome this problem, we applied robust control laws, e.g., MM-2DOF with a disturbance observer, robust 2DOF control, and modelfollowing 2DOF control to the linear slider. A comparative study confirmed experimentally that robust 2DOF control was most suitable. To improve modelfollowing 2DOF control, we modified model-following 2DOF control and its robust positioning.

Cite this article as:
Satoshi Yamamoto and Shinji Wakui, “Application of Robust Control Law for Linear Slider,” Int. J. Automation Technol., Vol.2, No.1, pp. 34-42, 2008.
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