Linear Positional and Speed Control of Servo Carts Using Inverse Dynamic Control

Abstract

Dynamic inverse- (DI-) based control technique has been utilized in many applications and proven to be effective. Recently, the inverse dynamic control (IDC), an expansion to the classical DI technique, has been trending with implementation in many areas. It has been proved that IDC is capable of overcoming some limitations in DI-based techniques, particularly in cancellation of useful nonlinearities. This paper extends the implementation of IDC on the positional and speed control of the linear servo cart system. Simulation results further proves that IDC is an effective and robust controller evidently when comparing it with the proportional velocity and lead compensator controller.