A method of achieving integral action with regard to disturbances and unknown constant parameters is presented. The method is similar to C.D. Johnson's `disturbance accommodating control' but is structured so that the disturbance correction or parameter estimation function can be designed without affecting the disturbance-free control. Simulation examples illustrate the method for a one-degree of freedom servo with a randomly-varying load disturbance, and for a two-degree of freedom servo with two sources of friction.
|Original language||English (US)|
|Number of pages||5|
|Journal||Proceedings of the American Control Conference|
|State||Published - Dec 1 1999|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering