A novel adaptive controller design for servo turning table

In this paper, a novel adaptive controller was designed based on the structure of disturbance observer (DOB) for servo turning table. An adaptive filter was added into DOB to realize a stable zeros-poles cancellation. Its adaptive law was deduced by Lyapunov function in order to guarantee the system stable when the parameters changed largely. It took advantage of the characteristic of the DOB structure. Therefore, the equivalent disturbance could be compensated. At the same time, it was able to hold the plant dynamics as the characteristic of a fixed model. By this advantage, an out loop controller could be designed easily and not need to be modified even if the main parameters changed. Simulation experiment showed that this method could effectively get the desired results and effectively suppressed disturbance. The robustness of this controller based on DOB was improved.