Variable gain type internal model control-PID speed control for ultrasonic motors

Kanya Tanaka, Yoshie Yoshimura, Yuji Wakasa, Takuya Akashi

Research output: Contribution to journalArticle

2 Citations (Scopus)


Ultrasonic motors (USM) causes serious characteristic changes during operation. It is difficult for the conventional internal model control (IMC) proportional integral differential (PID) control to compensate such characteristic changes of the plant. To solve these problems, we propose a method of variable gain type IMC-PID control. In the proposed method plant parameters are identified on line and these estimated parameters are used for adjusting three gains of PID. Then the proposed method makes it possible to compensate characteristic changes of the plant. The effectiveness of the proposed control method have been confirmed by experiments using the existing ultrasonic motors servo system.

Original languageEnglish
Pages (from-to)1326-1332+2
Journalieej transactions on industry applications
Issue number12
Publication statusPublished - 1 Dec 2008



  • Internal model control (IMC)
  • Proportional integral differential (PID) control
  • Ultrasonic motors (USM)
  • Variable gain

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