Hybrid model-following control algorithm within the motion control system

The goal of this paper is to present a new robust hybrid method that ensures stiffness of the mechanical characteristic of the direct current motor servo drive, which means lack of influence of the varying load torque on quality of the velocity control, what extends the concept of the MFC-V (Model-Following Velocity Control) system that allows one to shape the servo drive transient response, ensuring, among other things, an overshoot free step response in the velocity control loop. The proposed multi-loop-controller solution exemplifies a possible approach to designing a motor servo drive within the motion control system of a CNC (Computer Numerical Control) machines.