A parameterized design of universal motion controller is proposed in discrete-time domain using composite nonlinear control approach for high-performance servo mechanisms in industrial automation. First, the model of servo mechanisms is converted into discrete-time state-space form, and a linear control law is designed, consisting of state feedback, reference feed-forward and disturbance compensation. Next, a nonlinear control law is constructed to smoothly modulate the closed-loop damping as the system output approaches the reference. To estimate the unmeasurable velocity and disturbance, a reduced-order extended-state observer is adopted. The final controller is a combination of the above three parts and is fully parameterized in some fundamental tuning parameters. The controller was applied to a permanent magnet synchronous motor (PMSM) drive, which usually serves as the actuator for high-performance motion control systems. After MATLAB simulation, experimental test using a digital signal processing board was conducted, to verify the effectiveness of the proposed design.

针对工业自动化中的高性能伺服机构，提出了一种使用复合非线性控制方法的离散时域通用运动控制器参数化设计方法。首先，将伺服机构模型转换为离散时间状态空间形式，并设计了由状态反馈，参考前馈和扰动补偿组成的线性控制律。接下来，构造非线性控制定律，以在系统输出接近参考值时平滑地调节闭环阻尼。为了估计不可测的速度和扰动，采用了降阶扩展状态观测器。最终控制器是以上三个部分的组合，并在一些基本调整参数中进行了完全参数化。该控制器已应用于永磁同步电机（PMSM）驱动器，通常用作高性能运动控制系统的执行器。在MATLAB仿真之后，使用数字信号处理板进行了实验测试，以验证所提出设计的有效性。