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This paper presents a new robust control method to suppress the torsional vibrations in flexible drive systems. The position control of a nonlinear two-mass-model system (2MM) is designed using the immersion and invariance (I&I) approach. First, appropriate mapping functions are derived to convert the actual nonlinear 2MM system into an equivalent reduced order system with rigid dynamics. This...
This paper presents the design of a nonlinear reduced order observer to estimate the load position and speed of an elastic drive system. The reduced order observer is designed using the notion of invariant manifold. First, a manifold is defined in terms of the error dynamics. Then, the mapping functions are selected in such a way that the error dynamics become asymptotically stable at the equilibrium...
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