Positioning control for a 3-mass system with inertia rotors using CMAC

This paper reports on the positioning control system for the 3-mass system which generates a torsional vibration. A lot of studies have been made on that system. But if state feedback controller is used for controlling, it needs accurate modeling. That's why we propose a 2-DOF controller using a CMAC as an adaptive feedforward controller, which is feedback error learning. The proposed scheme compares with the traditional controller to verify its validity.