Linear Positional and Speed Control of Servo Carts Using Inverse Dynamic Control

Dynamic inverse- (DI-) based control technique has been utilized in many applications and proven to be effective. Recently, the inverse dynamic (IDC), an expansion classical DI technique, trending with implementation areas. It proved that IDC is capable of overcoming some limitations DI-based techniques, particularly cancellation useful nonlinearities. This paper extends on positional speed linear servo cart system. Simulation results further proves effective robust controller evidently when comparing it proportional velocity lead compensator controller.