Robust servo-drive control for dynamic load perturbations

In the paper, design of the high performance PMAC servo-drive for a class of load perturbations characterized by dynamic interaction of the controlled part and the environment is presented. The robust tracking control design is based on exact feedback linearization and extended with an integrator backstepping design method. The feedback system is globally asymptotically stable in the sense of Lyapunov direct method for a class of dynamic interactive loads satisfying strict triangularity conditions (STC). The proposed n-th order robust compensator significantly extends the class of nonlinear uncertainties acting in the entire electro-mechanical system for which stable servo-drive operation is preserved