The Position Controller with Integral Action

A position controller with integral action suppresses the output error caused by a constant load. It also provides the system with the capability of tracking the constant slope profile without an error. In this chapter, the controller structure and parameter setting are considered for linear operating mode. The ability of the system to track the reference trajectory is discussed. The impact of the controller structure and the trajectory properties is evaluated. For the operation with large input disturbances, where the torque and speed limits of the system are reached, a nonlinear modification of the discrete-time position controller is proposed, providing a robust, aperiodic, and time-optimal response to large disturbances.