Observer-Based Nonlinear Proportional–Integral–Integral Speed Control for Servo Drive Applications via Order Reduction Technique

Abstract

This study designs an advanced single-loop output feedback system for speed servo drive applications, in which a simple proportional–integral–integral (PII) controller equipped with nonlinear feedback and feed-forward gains is formed. The resultant feedback system shows the desired critically damped performance for wide-operating regions by actively handling the system parameter and load uncertainties. There are three contributions: first, the third-order observer estimates, independent from the system model, where the speed and acceleration are obtained using the position measurement with the order reduction property; second, the observer-based PII controller is compensated by active damping with a nonlinearly structured feedback and feed-forward gains; and, third, a guarantee is achieved on the desired critically damped performance through a closed-loop analysis. A hardware testbed that adopts a 500 W brushless DC motor is used to experimentally demonstrate performance improvements over certain constant torque regions under various scenarios.