Dual-loop feedback control of servo motor systems using singular perturbation method

This paper addresses a dual-loop feedback control problem for servo motor systems that are capable of the suppression of high frequency resonance or vibration (RV). The singular perturbation based model reduction method is used to convert the closed loop system in to two reduced-order subsystems, which represent the position control loop and the high frequency RV dynamics, respectively. A composite control strategy is proposed to suppress the high frequency RV based on the analysis while stabilizing the position loop. The theoretical results are validated through simulation study and frequency-domain analysis.