Design of Consecutive Compensator for Servo System with Signal Uncertainty

  • Sergey Bystrov
  • Nina Vunder
  • Anatoly Ushakov
  • Sergey Vrazhevsky
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 644)


Results of the research of signal uncertainty problem are presented. The problem arises during design of consecutive compensator for a servo system. The problem is solved using Besekersky approach. This reduced among of requirements to reference signal structure of servo systems up to two characteristics: maximum rate and maximum acceleration. Information about maximum rate and acceleration of reference signal allows to introduce an equivalent harmonic input with calculable amplitude and frequency. This values and restriction on maximum error allow to estimate amplitude characteristic on error of the system and then amplitude characteristic of the open-loop system. Previously Besekersky approach was mainly used in Bode plot. Authors use this approach for design of consecutive compensators. The “error-output” transfer function is basis of design of consecutive compensator which gives desired eigenvalues location of state matrix. Obtained theoretical results are applied to development of a precise positioning system with a piezoelectric actuating device.


Signal uncertainty Besekersky approach Consecutive compensator Piezoelectric actuating device Precise positioning system 



This work was supported by Government of Russian Federation, Grant 074-U01; the Ministry of Education and Science of Russian Federation, Project 14.Z50.31.0031; Russian Federation President Grant №14.Y31.16.9281-HШ.


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Sergey Bystrov
    • 1
  • Nina Vunder
    • 1
  • Anatoly Ushakov
    • 1
  • Sergey Vrazhevsky
    • 1
  1. 1.Department of Control Systems and InformaticsITMO UniversitySaint PetersburgRussia

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