Direct torsion control of flexible shaft in an observer-baseddiscrete-time sliding mode
Koronki, P.; Hashimoto, H.; Utkin, V.
Industrial Electronics, IEEE Transactions on
Volume 45, Issue 2, Apr 1998 Page(s):291 - 296
Digital Object Identifier   10.1109/41.681228
Summary:This paper presents a new speed control method for a two-mass system coupled by a flexible shaft. Two control loops are proposed; the outer angular speed control loop calculates the reference signal for the inner loop, where the torsion of the shaft is handled as a variable under control. In this paper, the observer-based discrete-time sliding-mode (ODSM) control implementation and experimental verification of direct torsion control is presented. The experimental system consists of a conventional DC servo gear motor with encoder feedback and inertia load coupled by a flexible shaft. The controller was implemented using a transputer as the computation engine

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