PURPOSE: To improve the transient characteristic after the switching of the control mode, to shorten the positioning time, and to improve the positioning accuracy by inputting an impulse string to a servo compensator to add poles desirable for the transfer function covering from the state change of a controlled system through a controlled variable and to add zeros to cancel undesirable poles respectively.
CONSTITUTION: In a settling mode, an output feedback position control system of a single loop including a servo compensator 13 starts an initial input compensation circuit 14 having state variables 15 of a controlled system set at a switching mode in its output at a sampling time point set right after a seek mode is switched to the settling mode. An impulse string 12, i.e., the output of the circuit 14 is added to the compensator 13 at each sampling time. Then poles desirable for the transfer function covering from the variables 15 through the controlled variables of the controlled system are added based on the variables 15 set when the compensator 13 is switched and zeros are added to cancel undesirable poles respectively.
SHISHIDA KAZUHISA
OSAWA HIROYUKI
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