Application of iterative feedback tuning (IFT) to speed and position control of a servo drive

Iterative feedback tuning (IFT) is applied to tune the cascade speed and position controller of a permanent magnet (PM) servo drive. Several variants of experimentally obtained criteria for the test bed are analyzed. The results of the IFT controller, which was easily implemented on a programmable logic controller (PLC), are compared with the results of three tuning schemes commonly used in the industry. Experimental tests on the PM motor with different types of load show that IFT performance in transient conditions is as good as or better than other methods.