A General Framework for Designing SISO-Based Motion Controller with Multiple Sensor Feedback

Akihiro Suzumura, Yasutaka Fujimoto, Toshiyuki Murakami, Roberto Oboe

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


This paper proposes N-degree-of-freedom (N-DoF) control for single-input and single-output based systems. This method relaxes the water-bed effect, which limits the capacity to suppress disturbances and noise using multiple sensors. The system's design procedure for the control system and nominal stability conditions are introduced. N-DoF control is then compared with classical two-DoF control and with Kalman filter using simulations and experiments of motor systems with an encoder and an accelerometer. The results indicate that N-DoF control achieves an enhanced disturbance and an oscillation suppressing performance simultaneously. Moreover, N-DoF control is applied to two-mass systems and verified by using numerical simulation. The characteristics are introduced and compared with several conventional approaches. The results suggest that N-DoF control incorporates all the characteristics of the other methods, and its disturbance and vibration suppression capability is demonstrated.

Original languageEnglish
Article number7529064
Pages (from-to)7607-7620
Number of pages14
JournalIEEE Transactions on Industrial Electronics
Issue number12
Publication statusPublished - 2016 Dec


  • Motion control
  • N-degree-of-freedom (N-DoF) control
  • multiple sensor feedback
  • two-degree-of-freedom (two-DoF) control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'A General Framework for Designing SISO-Based Motion Controller with Multiple Sensor Feedback'. Together they form a unique fingerprint.

Cite this