A Two-Degree-of-Freedom FIMC-GESO Control Method for DC Speed Servo System

The tracking performance and the anti-disturbance performance cannot be balanced in a DC speed control system. The issue is resolved by a two-degree-of-freedom fractional-order internal mode controller (FIMC) with a generalized expanded state observer (GESO). Secondly, The system's tracking performance can be improved by adjusting only the filter parameters in the FIMC, while the system's ability to combat disturbance can be improved by adjusting the bandwidth in the GESO. This greatly reduces the complexity of the system parameter design. Finally, simulation and experiment are used to confirm the effectiveness and viability of the FIMC-GESO control in the DC servo system in terms of speed tracking performance and anti-disturbance performance.