---

…ZET: Arzu edilen bir denetim sistemi performansÝ elde edebilmek i�in šncelikle
denetlenecek olan sistemin parametrelerinin kesin olarak belirlenmesi gerekir. Fakat
yapÝsal ve yapÝsal olmayan belirsizlikler sonucu gšz šnŸne alÝnan sistem modeli
belli sÝnÝrlar i�erisinde deÛißiklikler gšsterebilir. Bu makalede model Ÿzerindeki
deÛißiklikleri de gšz šnŸne alarak, sanayide sÝk�a kullanÝlan DC servomotorlar i�in
PI tipi hÝz denetleyicisi, belli bir performansÝ her �alÝßma ßartÝnda saÛlayacak ßekilde
tasarlanmÝßtÝr. TasarÝm safhasÝnda Ackermann ve Kaesbauer sÝnÝr tasvir teoreminin
sonu�larÝndan yararlanÝlmÝßtÝr.
Anahtar kelimeler: DayanÝklÝ denetim (kontrol), dc servomotor, PI denetim
ABSTRACT: In order to obtain a desired control system performance, primarily,
the parameters of the system to be controlled must be determined. However, due to
the structural and non-structural uncertainties, the system model considered could
exhibit some variations within the boundaries. In this paper, taking the parameter
variations on the model into account, a PI type speed controller for dc servomotors,
which are commonly used in the industry, was designed to provide a specified
performance under all the working conditions. During the design phase, the results
obtained from Ackermann and Kausbauer boundary representation theory were
used.
Keywords: Robust control, dc servomotor, PI control

---