A disturbance attenuation controller design for two-inertia systems which explicitly depends on physical parameters

Recent commercial products of servo motor have provided auto-tuning mechanisms of the implemented controller in order to get desirable performance without heavy manual tuning by users. The conventional PID controllers and notch filters have been adopted because of the simple structure to make tuning mechanism simple, however, achievable performance might be reduced by the structure. In this paper, a disturbance attenuation problem for two-inertial systems is considered. A design method of controllers which contain physical parameters of the systems is proposed based on the stabilizing controller parametrization. The validity of the proposed method is shown by simulations and experiments.