Extended switching criterion for second-order saturated servomechanisms

A PRIMARY requirement in many positioning systems is that errors resulting from large input disturbances be reduced to tolerable values as quickly as possible. For a linear system, this requirement could be satisfied by making the ratio of torque to inertia sufficiently large. However, even with the best servomotor design this ratio is limited; therefore, to sufficiently reduce the response time, the designer must frequently contend with saturation in the system components and resulting saturated values of available torque. This paper deals with this saturated type of operation.