Hag-Seong Kim


1 Optimal Speed Controller Design of the Two-Inertia Stabilization System

Authors: Dong-Hyun Kim, Byoung-Uk Nam, Hag-Seong Kim, Ho-Jung Lee


This paper focuses on systematic analysis and controller design of the two-inertia STABILIZATION system, considering the angular motion on a base body. This approach is essential to the stabilization system to aim at a target under three or six degrees of freedom base motion. Four controllers, such as conventional PDF(Pseudo-Derivative Feedback) controller with motor speed feedback, PDF controller with load speed feedback, modified PDF controller with motor-load speed feedback and feedforward controller added to modified PDF controller, are suggested to improve reference tracking and disturbance rejection performance. Characteristics and performance of each controller are analyzed and validated by simulation in the case of the modified PDF controller with and without a feedforward controller.

Keywords: Speed Control, Two-Inertia stabilization System, ITAE criterion

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