A Digital Super-Servo Controller Design Methodology.

This report compiles, refines, and extends a general theory for developing digital servo-tracking controllers which will achieve a high-level of servo-tracking performance that is unmatched by currently available digital servo-design methods. This general theory applies to multiple-inputmultiple-output linear time-invariant systems subjected to plant parameter-perturbations and complex, multi-variable, time-varying servo-commands and disturbances. Obstacles to achieve high-performance servo-tracking are identified and discussed, along with key shortcomings inherent in conventional design methods. In addition, a collection of example problems are worked in detail to illustrate the design techniques described and developed in this study. Simulation results are used to demonstrate the performance of the resulting controllers.