Digital Motion Control Control Theory Servo Drive Design
Servomechanism Theory
Motion Control Systems
Microcomputer-Based Digital Control
 PID & Lead/Lag Control
Dead Beat Control
Loop-Gain Shaping Design Techniques
Modern Control Theory for Servo Design
Optimal Control and State Feedback Control
Model Matching Robust Control
Robust Pole Place Control
H-2 & H-infinity Control
Internal Model Control
LQG/LTR Control
Quantity Feedback Control
Variable Structure Control
Model Reference Adaptive Control
Self-Tuning Adaptive Control
Repetitive Control
Fuzzy/Neural Control
 Servo Motors
Sensors for Motor and Motion Control
Power Amplifiers for Motor Drives
Current Control of DC Motor Drives
Computer-Aided Servo System Design
Current Control of AC Motor Drives
Microcomputer Control of AC Drives

Reading Guide

The book Theory of Servomechanisms, edited by James, Nichols, and Philips, gives a survey of controller design right after World War II. Brown and Campbell (1948) address the early work on servomechanism design at MIT [Brown 48]. Humphrey's Introduction to Servomechanism System Design [Humphrey 79] provides beginners a good reference for servo system design by using frequency-domain based classical control system design tecgniques. Canfield (1965) from General Electric wrote a good book about servomechanism design for practicing engineers [Canfield 65].

Sensors and Actuators

Commercially available sensors and acturators for control systems are surveyed in the books by Hordeski [C4] and DeSilva [C5]; the reader can also consult commercial catalogs and manuals such as [C6].

PWM Amplifiers

Wideband high-efficiency pulsewidth modulated (PWM) power amplifiers are gaining their momentum in application such as servo drives, harmonics neutralization of power line, mangnet power supplies, etc. References [D1] and [D2] gives the design of PWM amplifiers for dc motor control in early days and [D3] makes an introduction of the development of modern PWM amplifiers.
    Servomechanism and Motion Control System
  1. B. K. Bose, "Technology trends in microcomputer control of electrical machines," IEEE Trans. on Ind. Electronics, vol. 35, no. 1, pp. 160-177, Feb. 1988.

  2. B. K. Bose, Power Electronics and AC Drives, Prentice-Hall, New Jersey, 1986.

  3. H. Gross, Editor, Electrical Feed Drives for Machine Tools, John Wiely & Sons Limited, 1983.

  4. W. M. Humphrey, Introduction to Servomechanism System Design, 1979.

  5. D. R. Wilson Editor, Modern Practice in Servo Design, Pergamon Press, 1970.

  6. G. S. Browm and D. P. Campbell, Principles of Servomechanisms: Dynamics and Synthesis of Closed-Loop Control Systems, John Wiley & Sons, Inc., New York, 1948.

  7. H. James, N. Nichols, and R. Philips, Theory of Servomechanisms, McGraw-Hill, 1947.

  8. E. B. Canfield, Electromechainical Control Systems and Devices, 1965.

    Motion Control Systems

  9. S. Meshkat, Editor, Advanced Motion Control, Intertec Communications Inc., Publishers - Ventura, U.S.A., 1988.

  10. Y. Dote, Servo Motor and Motion Control Using Digital Signal Processors, Prentice Hall and Texas Instruments Digital Signal Processing Series, 1990.

    Feedback Control Theory

  11. G. F. Franklin, J. D. Powell, and A. Emami-Naeini, Feedback Control of Dynamic Systems, Addison-Wesley Publishing Company, 1986.

    Microcomputer Control

  12. K. J. Astrom and L. Rundqwist, "Integrator windup and how to avoid it?," Proc. American Contr. Conf., pp. 1693-1698, 1989.

  13. C. P. Diduch and R. Doraiswami, "Robust servomechanism controller design for digital implementation," IEEE Trans. on Ind. Electronics, vol. 34, no. 2, pp. 172-179, May 1987.

  14. N. K. Sinha, Editor, Microprocessor-based Control Systems, D. Reidel Publishing Company, Amsterdam, The Netherlands, Reidel, 1986.

  15. K. J. Astrom and B. Wittenmark, Computer Controlled Systems: Theory and Design, Prentice-Hall, Inc., pp. 174-189, 1984.

  16. P. Katz, Digital Control Using Microprocessors, Prentice-Hall Inc., pp. 148-155, 1982.

  17. H. C. Wang, "Sampling period and stability analysis for the microcomputer-based motor control systems," IEEE Trans. IECI, vol. 28, no. 2, pp. 98-102, May 1981.

    Servo Motors

  18. DC Motors, Speed Controls, Servo Systems, including Optical Encoders, An Engineering Handbook by Electro-Craft Corporation, Hopkins, MN, Fifth Edition, 1980.

  19. B. C. Kuo and T. Jacob, DC Motors in Incremental Motion Systems, Chap. 5 of Incremental Motion Control: DC Motors and Control Systems, 1978.

  20. H. Asada and K. Youcef-Toumi, "Development of a direct-drive arm using high torque brushless motors," in Robotics Research. Cambridge, MA., MIT Press, pp. 583-599, 1984.

  21. H. Asada and K. Youcef-Toumi, Direct-Drive Robots: Theory and Practice, MIT Press, 1987.

  22. S. J. Chapman, Electrical Machinery Fundamentals, McGraw-Hill, Inc., 1991.

    Sensors for Digital Motion Control

  23. Motion Measurement, Chap. 4 of Measurement Systems: Application and Design, McGraw-Hill Book Company, 1975.

  24. Optical Encoders, Chap. 7 of DC Motors, Speed Controls, Servo Systems, including Optical Encoders, An Engineering Handbook by Electro-Craft Corporation, Hopkins, MN, Fifth Edition, 1980.

  25. B. C. Kuo, Sensors and Encoders, Chap. 3 of Incremental Motion Control: DC Motors and Control Systems, Edited by B. C. Kuo and J. Tal, 1978.

  26. M. F. Hordeski, Transducers for Automation, Van Norstrand Reinhold, 1987.

  27. C. DeSilva, Control Sensors and Actuators, Prentice-Hall, 1989.

  28. Y. Dote, Digital Servo Motor Control Components, Chap. 2 of Servo Motor and Motion Control Using Digital Signal Processors, Prentice Hall and Texas Instruments Digital Signal Processing Series, 1990.

    PWM Amplifier

  29. V. K. Verma, C. R. Baird, and V. K. Aatre, "Pulsewidth-modulated speed control of DC motors," J. Franklin Inst., vol. 297, no. 2, pp. 89-101, 1974.

  30. J. Tal, "Design and analysis of pulsewidth-modulated amplifiers for DC servo systems," IEEE Trans. on IECI, vol. 23, no. 1, pp. 47-55, Feb. 1976.

  31. R. S. Burwen, "Kilowatts on order," IEEE Spectrum, pp. 32-37, Feb. 1993.

    Current Control of DC Motor Drives

  32. G. Holling, "Adaptive digital current loop systems," MOTOR-CON Proceedings, pp. 293-305, 1985.

  33. H. Grotstollen, "Comparison of speed controlled DC drives with and without subordinate current loop," Proc. IFAC Symp. Control in Power Electron. and Electrical Drives, pp. 583-592, 1977.

  34. W. McMurray, "Modulation of the chopping frequency in dc choppers and PWM inverters having current-hysteresis controllers," IEEE Trans. Ind. Appl., vol. 20, pp. 763-768, July/Aug. 1984.

  35. M. J. Nieniewski and R. S. Marleau, "Mathematical modeling of a digital current control loop for electrical drives," IEEE Trans. on Ind. Electron., vol. IE-34, no. 1, pp. 107-114, Feb. 1987.

  36. C. K. Taft and E. V. Slate, "Pulsewidth modulated DC control: a parameter variation study with current loop analysis," IEEE Trans. on IECI, vol. 26, no.4, pp. 218-226, Nov. 1979.

    Current Control of AC Motor Drives

  37. L J. Garces, "current control of field oriented AC induction motor drives," In Tutorial Course of IEEE IAS Ann. Meet., Dearbom, pp. 5/1-40, Oct. 1991.

  38. A. Kawamura and T. Yokoyama, "Comparison of five control methods for digitally feedback controlled PWM inverters," EPE Conf. Rec., Firenze, pp. 2.35-2.40, 1991.

  39. M. P. Kazmierkowski and M. A. Dzieniakowski, "Review of current control regulation techniques for 3-phase PWM inverters," IEEE IECON Conf. Rec., pp. 567-575, 1994.

  40. L. Males and P. Tent, "A novel hysteresis is control method for current controlled VSI PWM inverters with constant modulation frequency," IEEE Trans. on Ind. Appl., vol. 26, no. 1, pp. 88-92, Jan./Feb. 1990.

  41. L. Malesani and P. Tomasin, "PWM current control techniques of voltage source converters - a survey," IEEE IECON Conf. Rec., pp. 670-675, 1993.

  42. J. Holtz, "Pulsewidth modulation for electronic power conversion," IEEE Proc., vol. 82, no. 8, pp. 1194-1214, Aug. 1994.

  43. J. Iwaszkiewicz, "A predictive algorithm for current controlled voltage source inverter," Proc. Int. Symp. Ind. Electron., Budapest, pp. 514-518, 1993.

    Computer-Aided Servo System Design

  44. M. Jamshidi, M. Tarokh, and B. Shafai, Computer-Aided Analysis and Design of Linear Control Systems, Prentice-Hall, Inc., 1992.

  45. Y. Y. Tzou, S. Y. Hwang, H. J. Wu, and I. K. Wang, "Design and implementation of an interactive digital controller development system," IEEE IECON Conf. Rec., pp. 785-791, Nov. 1989.

  46. A. S. Rao and G. A. Perdikaris, "Computer-aided compensator design," IEEE Trans. on Eduation, vol. 31, no. 3, pp. 221-224, Aug. 1988.
  47. J. R. James, D. K. Frederick, and J. H. Taylor, "Use of expert-systems programming techniques for the design of lead-lag compensators," Proc. of IEEE, Pt. D, vol. 134, no. 3, pp. 137-144, May 1987.

  48. P. R. Barros, F. A. C. Gomide, and G. S. Deep, "The computer-aided design and microcomputer based implementation of linear quadratic digital controllers for position of DC servomotors," IEEE IECON Conf. Rec., pp. 333-339, 1985.

  49. M. Jamshidi and C. J. Herget, Computer-Aided Control Systems Engineering, Elsevier Science Publishing Company, Inc., North-Holland, 1985.

  50. PC-MATLAB: IBM-PC Based Control System Design ToolBox, The MathWorks Inc., #158, Woodland St. Sherborn, MA 01770, 1987.

  51. PC-SIMNON: IBM-PC Based Nonlinear Dynamical System Simulator: User's Guide, The MathWorks Inc., # 158, Woodland St. Sherborn, MA 01770 Tel (617) 653-1415, 1987.

  52. SYSL/M: Continuous System Simulation Language, User's Manual, Consulting, P.O. Box 1182, Poway, CA 92064, Tel (619) 578-4057, 1987.

    Microcomputer Control of AC Drives

  53. R. D. Lorentz, T. A. Lipo, and D. W. Novotny, "Motion control with induction motors," IEEE Proc., vol. 82, no. 8, pp. 1215-1240, Aug. 1994.

  54. T. M. Jahns, "Motion control with permanent-magnet ac machines," IEEE Proc., vol. 82, no. 8, pp. 1241-1252, Aug. 1994.

  55. Y. T. Kao and C. H. Liu, "Analysis and design of microprocessor-based vector-controlled induction motor drives," IEEE Trans. on Ind. Electron., vol. 39, no. 1, pp. 46-54, Feb. 1992.

  56. M. R. Stojic and S. N. Vukosavic, "Design of microprocessor-based system for positioning servomechanism with induction motor," IEEE Trans. Ind. Electron., vol. 38, pp. 369-378, Oct. 1991.

  57. B. K. Bose, "Technology trends in microcomputer control of electrical machines," IEEE Trans. on Ind. Electronics, vol. 35, no. 1, pp. 160-177, Feb. 1988.

  58. B. K. Bose, "Motion control technology - present and future," IEEE Trans. Ind. Appl., vol. 21, pp. 1337-1342, Nov./Dec. 1985.

  59. R. H. Comstock, "Trends in brushless permanent magnet and induction motor servo drives," Motion, pp. 4-12, 2nd. quarter, 1985.

  60. R. A. Morgan, "A status report: ac drive technology," IEEE IAS Conf. Rec., pp. 543-547, 1981.