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김운성(Woon-Sung Kim),배한경(Han-Kyung Bae),허경무(Kyung-Moo Huh) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
In this thesis, a self-tuning control method based on Variable Structure System technique for tracking control of Direct- Drive motor is presented. The self-tuning control could not make the tracking error zero in the transient period. This tracking error may be due to disturbances or the error in parameter identification. To overcome this problem, a self-tuning control method based on discrete time VSS technique is presented. The STC based on VSS technique gives good tracking performance of the reference signal in the transient period. The proposed controller is robust to parameter errors and disturbances. The performance of the proposed controller is compared with that of simple STC through digital computer simulation.