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The fundamental concepts of servo motion control have not changed significantly in the last 50 years. The basic reasons for using servo systems in contrast to open loop systems include the need to improve transient response times, reduce the steady state errors and reduce the sensitivity to load parameters.
In summary, disturbance rejection control can be obtained by one of a number of ways, the two most common are P.I.D. and P.I.V. control. The direct use of P.I.D. control can often meet low- performance motion control loops and are generally set by either the Ziegler Nichols or by trial- and-error methods. Overshoot and rise times are tightly coupled, making gain adjustments difficult. P.I.V. control, on the other hand, provides a method to significantly decouple the overshoot and rise time, allowing for easy set up and very high disturbance rejection characteristics. Finally, feedforward control is needed in addition to disturbance rejection control to minimize the tracking error.
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"Fundamentals of Servo Motion Control "
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