Nonlinear Quadratic Stochastic control is applied to a position servomechanism. A method for estimating the maximum sampling time of a digital implementation of the technique is given. Additionally, a technique for improving on Gaussian statistics is shown. Non-Gaussian statistics are especially useful for the precise control of servomechanisms with granular nonlinearities such as coulomb friction and backlash.
Application of Nonlinear Quadratic Stochastic Control to a Position Servomechanism
Beaman, J. J., and Lin, C. H. (December 1, 1990). "Application of Nonlinear Quadratic Stochastic Control to a Position Servomechanism." ASME. J. Dyn. Sys., Meas., Control. December 1990; 112(4): 675–679. https://doi.org/10.1115/1.2896194
Download citation file: