| Summary: | In this paper is introduced a methodology for solving the regulation and tracking control problem in servomechanisms through a Proportional Retarded controller with a Feedforward and Feedback (PR+FF) compensation scheme. The key advantage of this approach is that it enables regulation and tracking control without requiring velocity measurements, which are typically needed in most control schemes, such as Proportional Derivative controllers. The design of the PR+FF control is grounded in <inline-formula> <tex-math notation="LaTeX">$\sigma $ </tex-math></inline-formula>-stability analysis and the D-partitions method. Its performance is evaluated on an experimental platform consisting of a servomechanism. The proposed controller is also compared with a Proportional Derivative, Proportional Integral and Proportional Integral Derivative schemes using filters compensation. The results are analyzed from a frequency perspective, using Bode plots, and by examining error and control signals in real-time.
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