Robust Lyapunov-Based Feedback Control of Nonlinear Web-Winding Systems †

  title={Robust Lyapunov-Based Feedback Control of Nonlinear Web-Winding Systems †},
  author={Matthew D. Baumgart and Lucy Y. Pao},
Abstract— Web-winding systems such as tape drives are often modeled as linear and time-invariant (LTI), but at least two nonlinearities are common in these systems. First, the reel radii and moments of inertia change as web media spools from one reel to another. Second, friction can draw a thin layer of air between the layers of web media wrapped on the takeup reel, making the system’s spring and damping characteristics nonlinear by allowing a greater length of media to vibrate freely. Little… CONTINUE READING
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