@conference {palmamodeling,
	title = {MODELING AND HYBRID CONTROL OF A NONLINEAR DC SERVOMOTOR},
	booktitle = {4th Portuguese COnference on Automatic Control - Controlo 2000},
	year = {2000},
	note = {<p>n/a</p>
},
	publisher = {SPCA},
	organization = {SPCA},
	abstract = {<p>A nonlinear DC servomotor model with friction, saturation, backlash and motor starting voltage is presented in this paper. Traditionally the position of a servo is controlled with a PD-controller. In the presence of disturbance, PID control results with overshoot and long recovery time. In simulations, the integral time of the controller is modified to fasten the recovery time. To control the position of the servomotor is proposed a Hybrid Control Architecture using a nonlinear PID controller and a Fuzzy PID controller. Simulation results with the Hybrid Controller are presented.</p>
},
	author = {Palma, L. B. and Coito, F. V.}
}
