Multimicroprocessor-Based Multiloop Robust Control of a Dc Servo Motor with Large Load Variations

A multiloop feedback control system supplemented by a complementary controller is used to improve the drive performance of a dc servo motor and reduce sensitivity to parameter variations, nonlinear effects, and load disturbances. A software-based adaptive current-loop controller has been implemented on a microprocessor-based digital PWM controller. Experimental results based on multimicroprocessor implementation are presented to illustrate improved response and robustness of a direct drive dc servo controller applied to a single-link robot manipulator.