Integral Observer-based Control and Closed-Loop Stability of an Uncertain Servomechanism

E. Flores and R. Garrido (Mexico)


Noise, Observer-based control, Real-time system, Servomechanism, Stability, Uncertainty


This work deals with the control of an uncertain nonlinear second order servomechanism under influence of measurement noise. Stability analysis for the closed-loop system is carried out by Lyapunov’s second method. The loop has been closed applying a Proportional-Derivative controller with uncertainty compensation to the servo. Such a controller employs estimates obtained from an Integral High Gain Observer. Real-time experiments for path tracking task have been performed on a laboratory prototype to validate the proposed approach.

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