Servo Controller Design and Fault Detection Algorithm for Speed Control of a Conveyor System

  • Trong Hai NguyenEmail author
  • Nguyen Thanh Phuong
  • Hung Nguyen
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 554)


This paper proposes a servo controller design and fault detection algorithm for speed control of a conveyor system. Firstly, modeling for a conveyor system is described. Secondly, the robust servo controller based on polynomial differential operator is applied to track the trapezoidal velocity profile reference input. Thirdly, a fault detection algorithm based on Extended Kalman Filter (EKF) is proposed. From the EKF, the estimated angular velocity indicates the encoder failure. The estimated friction indicates the mechanical failure. Fault isolation is obtained by the friction bound. Finally, the simulation and experimental results are shown to verify the effectiveness of the proposed algorithm.


Internal model principle Servo system Speed control Fault detection Kalman Filter 



This research was supported by a Research Grant of Ho Chi Minh City University of Technology (HUTECH) (2018 year).


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Trong Hai Nguyen
    • 1
    Email author
  • Nguyen Thanh Phuong
    • 1
  • Hung Nguyen
    • 1
  1. 1.Hutech Institute of Engineering, Ho Chi Minh City University of Technology (HUTECH)Ho Chi Minh CityVietnam

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