| Abstract |
A current con troller having an inverse dynamic
model and PI controller has been proposed with the aim of
compensating the e ects of dead time. The proposed con-
trol sc heme, having t w o degrees of freedom (DOF), can be
used for compensating the e ects of disturbance without
degrading trac king performance. T o be speci c, the dis-
turbance rejection property is enhanced by increasing the
gains of a PI controller, but the PI gain does not a ect the
transfer function between the command and the output.
By nature, it is robust to the parameter mismatch error
between the model and the plant, since the mismatch error
can be counted as another disturbance. With the experi-
mental results, we ha ve sho wn the superiority of the pro-
posed method in suppressing the current distortion caused
by dead time. |
