Performance Index for Servo Drives under PI Speed Control

The paper points out a minimum variance based performance index for restricted controller structure, known in literature and applied in process industries. The theory is introduced briefly. As core of the paper adaption to the topic of speed control for electromechanical drives is shown. Simulational and experimental results for various single and dual-mass systems show good sensitivity to relevant parameters. As main drawback, the index prefers tough controller settings.