A hyperstable cascade control scheme for chattering reduction in discontinously controlled servo systems

불연속 제어 서보시스템에서의 chattering 저감을 위한 hyperstable cascade control

In this paper, a hyperstable cascade control scheme for servo drive systems is proposed to reduce the chattering, which is an undesirable property in discontinuously controlled systems. First, a discontinuously controlled hyperstable MRAC scheme is designed with respect to PI speed control system using only output variables, and then a linear position controller is cascaded. It is shown that the above system is asymptotically stable and the chattering is greatly reduced at a constant speed provided that the disturbance torque satisfies a certain condition.