Fig. 1. Structure of continuous zoom system

Fig. 2. Schematic diagram of continuous zoom system

Fig. 3. Position/field figure of continuous zoom system

Fig. 4. IMC control system structure

Fig. 5. IMC equivalent feedback control structure

Fig. 6. Schematic of continuous zoom control system

Fig. 7. Block diagram of zoom (compensation) servo control system

Fig. 8. Mathematical model of servo control system

Fig. 9. Flow chart of controller design

Fig. 10. Comparison diagram of system step response

Fig. 11. Bode diagram of open-loop system

Fig. 12. Response curve of load disturbance

Fig. 13. Unit step response of parameter perturbation system

Fig. 14. Simulink model of continuous zoom control system

Fig. 15. Position response of zoom control system

Fig. 16. Position response of compensate control system

Fig. 17. Hardware experiment platform

Fig. 18. Image in zoom process light tube