Experimental study of virtual disturbance loop-shaping method for angular velocity control of a belt-drive system

In our previous study, we have proposed a design method of a static feedback gain for a nonparametric model described by a plant response data. The magnitudes of the sensitivity and complementary sensitivity functions are shaped. An appropriate gain can be obtained by solving a linear matrix inequality. In this paper, the usefulness is shown by applying the method to an experimental setup where a load disc is driven by a DC motor with belts. PI controller, state feedback gain, and the numerator coefficient of the observer-based controller are tuned successfully for velocity control.