A new approach to servomechanism design

This paper presents a new approach to servomechanism design based on a voltage driven deceleration velocity profile which accounts for back-e.m.f. and friction effects. Two different control modes are used in designing a target-seeking servo: linear and nonlinear with feedforward control. A simple controller design procedure not requiring iteration is presented. Simulation and experimental results show the proposed scheme improves seek performance and robustness of settling.