Multirate Output Feedback Control for Enhanced Position Control of Rotary Servo Motion Plant (SRV02)

This paper presents an experimental exploration of position control techniques applied to a Rotary Motion Servo Plant (SRV02), employing output feedback controllers. The transfer function model of the SRV02 is derived through first principles. Output feedback controllers, specifically Position Velocity (PV) and Multirate Output Feedback (MOF), are formulated and designed. The study evaluates the efficacy of these controllers in real-world scenarios for positioning control of the SRV02. A comparative analysis between PV and MOF controllers was conducted, assessing their static and dynamic characteristics. The results, obtained from both simulation and experimental setups, illustrate the superiority of MOF over PV controller in achieving precise position control of the SRV02. The findings of this study not only validate the effectiveness of MOF in position control applications but also provide insights into the practical implementation of output feedback controllers for enhancing the performance of rotary motion servo systems like SRV02.