Robust Acceleration Control Based on Acceleration Measurement Using Optical Encoder

The purpose of this study is to realize robust acceleration control using optical encoders. A quantization error of an optical encoder limits performance of the acceleration control. Hence, the study extends the premise of the S method, a high performance velocity measurement method, to acceleration measurement. The proposed method was shown to considerably improve the accuracy of acceleration measurements. High performance of acceleration control is realized due to the accurate measurement. Experimental results verify the validity of the proposed method.