Fig. 1. 3D structure diagram of VCA-FSM

Fig. 2. VCA-FSM servo control experimental platform

Fig. 3. VCA-FSM identification technology route

Fig. 4. System response under pseudo-random input

Fig. 5. Hankel matrix singular value distribution

Fig. 6. Comparison of nominal model and real system frequency characteristic curves

Fig. 7. Gap metric curve

Fig. 8. Standard control structure diagram

Fig. 9. Feedback controller K

Fig. 10. Loop shaping control experiment structure diagram

Fig. 11. LQR/LQG experimental structure diagram

Fig. 12. System response diagram under square wave and step disturbance input

Fig. 13. System sweep input response curve

Fig. 14. Closed loop system frequency characteristic curve