摘要：AbstractA new design method that satisfies the setting settling time with small maximum overshoot in a servo controller was developed using a PI controller and an internal feedback system. The internal feedback system consists of the model parameter of the controlled object that was approximated as a second-order lag-time system. Therefore, an adaptive ability that counteracts the changing model parameters was required. In this paper, the variable parameters of the controlled object were obtained by on-line execution of a non-linear least-squares method. Suitable adaptation by the developed method was confirmed in simulation and experimental tests.
