State-space speed control of two-mass mechanical systems: Analytical tuning and experimental evaluation

  title={State-space speed control of two-mass mechanical systems: Analytical tuning and experimental evaluation},
  author={S. Saarakkala and M. Hinkkanen},
  journal={2013 IEEE Energy Conversion Congress and Exposition},
This paper proposes a model-based two-degrees-of-freedom (2DOF) state-space speed controller design for a two-mass mechanical system. Analytical tuning rules for a feedback gain, a reduced-order state observer, a full-order state observer, and a prefilter are derived. The proposed design rules enable automatic tuning of the controller if the mechanical parameters are known. The prefilter is designed for step, ramp, and parabolic command tracking. It is shown by Nyquist diagrams and noise… Expand
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