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A comparison study of disturbance rejection property of motion controllers

This paper presents a comparison study of performance of three motion controllers such as conventional PID controller, LQR(Linear Quadratic Regulator) and RIC(Robust Internal-loop Compensator). All of comparison studies were verified by using a Industrial Servo Emulator (Model 220) made by ECP Corp. To evaluate the disturbance rejection feature, the various disturbances are applied into a motion system.