Servo controller design with a disturbance feedforward

摘要

In this report a design method for a servo controller with a disturbance feedforward is presented. A conventional controller with feedfoward often generate an exess output as a results of the addition of the integrator signal and the feedforward signal. The additional feedback can be inserted to canncel the integrator signal. The controller can be implemented by the same configuration as a two-degree-of-freedom LQI servo system.