Robust Speed Control of Uncertain Two-Mass System

The main purpose of this work is to present a robust speed control structure for two-mass system. tested system consists PI controller with two additional feedback. coefficients the are selected using pattern-search optimization method in order obtain robustness changes parameters. requires information about non-measurable state variables. For purpose, it proposed use multilayer observer. In show advantages MLO system, article also presents comparative studies classical A number simulation and experimental tests carried out. obtained results confirmed much higher quality cooperating observer compared