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A state space approach to the design of a body bending compensator is presented. A simple model composed of a flexible mode and a rigid body mode (represented by a constant) is used as a model for an observer based body bending compensator. A robustness recovery technique is utilized to generate a compensator that is less sensitive to uncertainty in the body bending frequency. A comparison between this design approach and a standard notch filter is presented.
American Control Conference, 1985
Date of Conference: 19-21 June 1985