State-Feedback-Based Practical Disturbance Compensation in a Point-to-Point Servomechanism

This study presents a precise positioning control system design for a point-to-point (PTP) servomechanism. The proposed approach used an auxiliary control signal to be added to effort of the main controller of the system (a PID controller) for combating the PTP dynamics problems. A state-feedback-based pole-assignment controller is suggested for producing the auxiliary control signal. During the design, the trajectory tracking problem of the PTP positioning system has been taken into consideration, accordingly, compensating the nonlinear inherent disturbances (friction forces) is main objective of this study. A mathematical model of the controlled PTP servomechanism including nonlinear friction forces is introduced. To highlight the effectiveness of the proposed technique, a numerical simulation has been carried out; the obtained results are discussed and compared with those of PID controller alone.