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Time-optimal control of a DC-servomotor with a bounded driving voltage and a bounded driving current is very useful for practical applications, bacause the capability of the power amplifier is usually limited. In particular, real-time control which involves the computation of the optimal solution is almost impossible when a microcomputer is used as a digital controller, because of the limitation of its computation speed. In this paper, time-optimal control system with the combination of feedforward and linear state feedback control is proposed to overcome the above problem. In the feedforward control, the prestored optimal sequence of a manipulation variable which has been computed using linear programming is applied to a DC-Servomotor. In the feedback control the effects of disturbances and modeling errors can be reduced, which leads to an exact constant value control. From an experimental result, it is made clear that practical microcomputer-based time-optimal control can be realized easily under the limited driving capability.

Design of a Time-Optimal Digital Control System for a DC-Servomotor with Amplitude Limitation of the Driving Voltage and Current