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

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2 Author(s)
Sugitani, Y. ; Dept. of Mech. Syst. Eng., Hiroshima Univ., Higashi-Hiroshima, Japan ; Saeki, M.

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.

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18-21 Aug. 2009

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