Robust vibration control of two-mass resonant systems in state space

Emre Sariyildiz, Haoyong Yu, Takahiro Nozaki, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this paper, a novel robust position controller is proposed for two-mass resonant systems. It is designed by using Differential Flatness (DF) and Disturbance Observer (DOb) in state space. Firstly, DF-based trajectory tracking controller is designed by neglecting plant uncertainties and external disturbances. Since a two-mass resonant system is controllable, state and control input references are generated in terms of differentially flat output. However, the trajectory tracking controller is sensitive so the stability and performance may significantly change due to the robustness issues in practice. Secondly, the robustness is achieved by treating estimated disturbances, which are obtained via DOb, in the design of the controller. A two-mass resonant system includes matched and mismatched disturbances; therefore, the robustness cannot be achieved by directly feeding-back their estimations. The states of the system are re-constructed by using estimated disturbances so that the mismatched disturbance is automatically cancelled via state feed-back control. The matched disturbance is simply cancelled by feeding-back its estimation. Hence, the robust trajectory tracking controller is designed for two-mass resonant systems. The validity of the proposal is verified by giving simulation results.

Original languageEnglish
Title of host publication2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages587-592
Number of pages6
ISBN (Electronic)9781479984640
DOIs
Publication statusPublished - 2016 Jun 20
Event14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand
Duration: 2016 Apr 222016 Apr 24

Other

Other14th IEEE International Workshop on Advanced Motion Control, AMC 2016
CountryNew Zealand
CityAuckland
Period16/4/2216/4/24

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Keywords

  • Differential flatness
  • Disturbance observer
  • Mismatched disturbance suppression
  • Robust vibration control
  • Two-mass resonant systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Sariyildiz, E., Yu, H., Nozaki, T., & Murakami, T. (2016). Robust vibration control of two-mass resonant systems in state space. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016 (pp. 587-592). [7496413] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2016.7496413