Observer-Based, Robust Position Tracking in Two-Mass Drive System

Precise motion control remains one of the most important problems in modern technology. It is especially difficult case two-mass systems with flexible coupling if only motor position and velocity are measured. We propose a new methodology system design this situation. The concept founded on robust observer design, based linear matrix inequality (LMI) solution. cooperates original nonlinear controller. presented approach allows us to solve tracking problem for drive, unknown parameters, presence disturbances (for instance, friction-like torques) acting both ends shaft. Under set assumptions, was never solved previously. closed-loop stability investigated, uniform ultimate boundedness state estimation errors proven using Lyapunov techniques. Numerical properties procedure characteristic features observer, controller, demonstrated by several examples.