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An original control structure dedicated to a class of second-order state feedback control systems is presented in the paper. The controlled processes are accepted to be characterized by second-order servo systems with integral component. Optimal state feedback control systems are designed for those processes making use of the Iterative Feedback Tuning (IFT) approach. The state feedback control system structure is extended with an integral component to ensure the rejection of constant disturbances. A case study concerning the position control of a DC servo system with backlash is included. Real-time experimental results validate the theoretical part of the IFT approach.

ITERATIVE FEEDBACK TUNING APPROACH TO A CLASS OF STATE FEEDBACK-CONTROLLED SERVO SYSTEMS