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Design and implementation of a robust control strategy for mechanical systems

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2 Author(s)
A. De Carli ; Dept. of Comput. & Syst. Sci., Rome Univ., Italy ; L. Onofri

The paper illustrates a methodology to design a robust control strategy for mechanical systems in which stiction, friction, parameter variations and external disturbances have relevant effects. A methodology for the rapid prototyping of a robust control strategy is presented. The effects of external disturbances, stiction, and friction phenomena are compensated by implementing a disturbance observer and an inverse friction model. The robust control strategy is designed by applying a dedicated software. The experimental results related to a complex laboratory mechanical system are presented

Published in:

Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on

Date of Conference:

29 Jun-1 Jul 1998