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JRM Vol.3 No.6 pp. 506-509
doi: 10.20965/jrm.1991.p0506
(1991)

Paper:

Transient Characteristics of Model-Following Servo System

Yasuo Yoshida and Masato Tanaka

System Control Division, Government Industrial Research Institute, Shikoku, AIST, MITI, 2-3-3 Hananomiya, Takamatsu, Kagawa 761, Japan

Received:
September 10, 1991
Accepted:
October 20, 1991
Published:
December 20, 1991
Abstract

The model-following servo controller is useful for the nonlinear robot arm. We analyzed unit step response of this controller and cleared transient characteristics in both cases of continuous and discrete time systems. We used linear quadratic optimal control law with integral action and a criterion function considering the square of control error and weighted controlling input. The overshoot is always 8.1% regardless of continuous time, discrete time and the weight for controlling input. A function of the weight and the sampling time determines the speed of responses.

Cite this article as:
Y. Yoshida and M. Tanaka, “Transient Characteristics of Model-Following Servo System,” J. Robot. Mechatron., Vol.3, No.6, pp. 506-509, 1991.
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Last updated on Dec. 10, 2019