A Predictive Velocity Observer in Wire Bonder’s Control System

Figure 1

Phase lags in the open loop of a general servo control system. 𝐹_𝑣(𝑠), 𝐹_𝑐(𝑠), 𝐹_𝑚(𝑠), and 𝐹(𝑠) are filters. 𝜏₁, 𝜏₂, 𝜏₃, and 𝜏 are pure delay time.

(a)

(b)