A Design Method of Servo Control System Based on Resonance/Antiresonance Characteristics.

This paper presents a new design method of servo control system based on resonance/antiresonance characteristics. The system frequency characteristics at resonance/antiresonance frequency are derived and used to analyze the system dynamic behavior, and the relationship between the gain characteristic at the antiresonance frequency and the disturbance rejection characteristic is also discussed. By frequency shaping design, a simple design principle is presented. It is shown that the proposed design method has advantages of clear high-frequency characteristic and better disturbance rejection over the traditional design method based on stiffness model. The validity of the proposed method is also examined by experiments on a flexible joint arm.