Stabilized digital inverse system and its application to motor control

The authors describe the design of a disturbance attenuation control using a stabilized digital inverse system and apply the control to 2nd-order motor control. Experimental results for a DC motor show that the proposed disturbance attenuation control can reduce the influence of the disturbance torque on the angular velocity. But the disturbance attenuation control by a conventional inverse system is shown to cause vibration of the motor shaft. Experimental results on the trajectory control confirm that motor control using the proposed approach is robust for a tenfold increase of the inertia