On noncollocated control of a single flexible link
نویسندگان
چکیده
The presence of right half plane (RHP) zeros in the transfer function relating the base torque to the tip position has long been the source of diiculty in noncollocated control of a Single Flexible Link (SFL). In this paper, we suggest an alternative noncollocated measurement called the virtual angle of rotation. We then show the following. a) The tranfer function with this output does not have any zeros in the open RHP. b) The zero dynamics arising from this measurement are stable. c) This distributed system can be stabilized by a nite-dimensional controller in the presence of Rayleigh damping.
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